DocumentCode :
2803643
Title :
Planning of vision and motion for a mobile robot using a probabilistic model of uncertainty
Author :
Miura, Jun ; Shirai, Yoshiaki
Author_Institution :
Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
fYear :
1991
fDate :
3-5 Nov 1991
Firstpage :
403
Abstract :
The authors propose a framework of unified planning of vision and motion with uncertainty. They use a probabilistic model to represent uncertainty and use statistical decision theory to make a unified plan of vision and motion. They describe a method of predicting the information acquired by a sensing operation and formulate the planning problem in a recurrence formula. They analyze vision-motion planning problem in a simple example and conclude that the combination of dynamic programming and hill-climbing is useful. Simulation results show the validity of the approach
Keywords :
computer vision; decision theory; mobile robots; navigation; planning (artificial intelligence); probability; computer vision; dynamic programming; hill-climbing; mobile robot; motion planning; navigation; probabilistic model; statistical decision theory; uncertainty; vision planning; Costs; Decision theory; Dynamic programming; Machinery; Mobile robots; Motion planning; Path planning; Robot sensing systems; Sensor fusion; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
Type :
conf
DOI :
10.1109/IROS.1991.174483
Filename :
174483
Link To Document :
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