DocumentCode :
3348718
Title :
Practical motion planning with visual constraints
Author :
Sutanto, Herry ; Sharma, Rajeev
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
fYear :
1997
fDate :
7-9 Aug 1997
Firstpage :
237
Lastpage :
242
Abstract :
The success of an autonomous assembly task relies on a motion planning system to generate a plan to accomplish the task, and on a sensor-based robot control system to ensure successful execution of the plan. The decoupling of sensor-based robot control from motion planning may yield undesirable motion plans that do not utilize the sensing effectively or consider sensor constraints. For example, a feasible collision-free path may be hard to traverse in practice because of inadequate sensor feedback in certain regions under uncertainty and sensor limitations. In this paper we consider an approach for motion planning that incorporates visual servoing constraints into the computation of the motion plans. The approach extends the notion of configuration space to include the corresponding sensor values. We propose a hierarchical representation of the high dimensional planning space involved, and a multistrategic heuristics search. This results in a practical motion planning scheme that is proven to be resolution-complete. Performance results are described for several robot manipulators with up to 6-DOF and under various sensing constraints
Keywords :
assembling; heuristic programming; industrial manipulators; path planning; robot vision; search problems; autonomous assembly task; collision-free path; configuration space; decoupling; hierarchical representation; multistrategic heuristics search; practical motion planning; robot manipulators; sensor constraints; sensor limitations; sensor-based robot control system; uncertainty; visual servoing constraints; Assembly systems; Feedback; Manipulators; Motion planning; Orbital robotics; Robot control; Robot sensing systems; Robotic assembly; Uncertainty; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on
Conference_Location :
Marina del Rey, CA
Print_ISBN :
0-7803-3820-0
Type :
conf
DOI :
10.1109/ISATP.1997.615414
Filename :
615414
Link To Document :
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