---
title: "Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost"
authors:
  - "Jun Miura"
  - "Yoshiaki Shirai"
doi: ""
url: "https://ijcai.org/proceedings/1997/172"
pdf: "https://ijcai.org/proceedings/1997/0172.pdf"
venue: "Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence"
year: 1997
pages: "1194-1199"
track: "Planning and Scheduling"
keywords:
---

# Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost

Jun Miura, Yoshiaki Shirai

*Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence*, 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.