DocumentCode :
2091683
Title :
Dynamic sensor selection for robotic systems
Author :
Hovland, G.E. ; McCarragher, B.J.
Author_Institution :
Dept. of Eng., Australian Nat. Univ., Canberra, ACT, Australia
Volume :
1
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
272
Abstract :
A new technique for selecting, in real time, different sensing techniques for a robotic system has been developed. The proposed method is based on stochastic dynamic programming, which provides an effective solution to multi-stage decision problems. At each stage in the decision process a sensor selection controller has the option of consulting a new process monitoring technique to improve the knowledge of the task or terminating the decision process without any further information gathering. The sensor selection controller has been successfully implemented for the real-time control of a planar robotic assembly task in a discrete event control framework. One of the monitoring methods used is based on hidden Markov models, where the average recognition rate was 87%. The rate of 87% was chosen to show the effectiveness of the dynamic sensor selection method. The experiments show that the method performs better than any individual process monitor. A successful event recognition rate of 97% with an average CPU time of 0.38 seconds is achieved when two force monitors and one position monitor are available to the sensor selection controller
Keywords :
assembling; decision theory; discrete event systems; dynamic programming; force measurement; hidden Markov models; industrial robots; monitoring; position measurement; stochastic programming; average recognition rate; discrete event control; dynamic sensor selection; force monitors; hidden Markov models; multi-stage decision problems; planar robotic assembly task; position monitor; process monitoring technique; real-time control; robotic systems; sensing techniques; sensor selection controller; stochastic dynamic programming; Dynamic programming; Force control; Force sensors; Hidden Markov models; Monitoring; Real time systems; Robot sensing systems; Robotic assembly; Sensor systems; Stochastic processes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.620050
Filename :
620050
Link To Document :
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