DocumentCode :
2631107
Title :
Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration
Author :
Lidoris, Georgios ; Kuhnlenz, Kolja ; Wollherr, Dirk ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
4044
Lastpage :
4049
Abstract :
In this paper, a control scheme that combines trajectory planning and gaze direction control for robotic exploration is presented. The objective is to calculate the gaze direction and simultaneously plan the trajectory of the robot over a given time horizon, so that localization and map estimation errors are minimized while the unknown environment is explored. Most existing approaches perform a greedy optimization for the trajectory generation only over the next time step and usually neglect the limited field of view of visual sensors and consequently the need for gaze direction control. In the proposed approach an information-based objective function is used, in order to perform multiple step planning of robot motion, which quantifies a trade-off between localization, map accuracy and exploration. Relative entropy is used as an information metric for the gaze direction control. The result is an intelligent exploring mobile robot, which produces an accurate model of the environment and can cope with very uncertain robot models and sensor measurements
Keywords :
SLAM (robots); intelligent robots; mobile robots; path planning; position control; robot vision; gaze direction control; greedy optimization; information-based objective function; intelligent exploring mobile robot; localization error; map estimation error; robot motion planning; trajectory generation; trajectory planning; visual sensors; Entropy; Estimation error; Intelligent robots; Intelligent sensors; Mobile robots; Motion planning; Robot control; Robot motion; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.364100
Filename :
4209718
Link To Document :
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