Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost
Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence. Planning and Scheduling. Pages 1194-1199.
Abstract
This paper proposes a planning method for a vision-guided mobile robot und er vision uncertainty and limited computational resources. The method considers the following two tradeoff's: (1) granularity in approximating a probabilistic distribution vs. plan quality, and (2) search depth vs . plan quality. Th e first tradeoff is managed by predicting the plan quality for a granularity using a learned relationship between them, and by adaptively selecting the best granularity. The second trade-off is managed by formulating the planning process as a search in the space of feasible plans , and by appropriately limiting the search considering the merit of each step of the search . Simulation r esults and experiments using a real robot show the feasibility of the method.
@inproceedings{ijcai1997p172,
title = {Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost},
author = {Miura, Jun and Shirai, Yoshiaki},
booktitle = {Proceedings of the Fifteenth International Joint Conference on
Artificial Intelligence, {IJCAI-97}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Martha E. Pollack},
pages = {1194--1199},
year = {1997},
note = {Planning and Scheduling},
url = {https://ijcai.org/proceedings/1997/172},
}
TY - CPAPER TI - Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost AU - Miura, Jun AU - Shirai, Yoshiaki T2 - Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, IJCAI-97 PB - International Joint Conferences on Artificial Intelligence PY - 1997 SP - 1194 EP - 1199 UR - https://ijcai.org/proceedings/1997/172 ER -Copied
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