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Can I read On-line Viewpoint and Motion Planning for Efficient Visual Navigation Under Uncertainty on EtoBox?
On-line Viewpoint and Motion Planning for Efficient Visual Navigation Under Uncertainty by Inhyuk Moon; Jun Miura; Yoshiaki Shirai is a Engineering article available to read on EtoBox.
What is On-line Viewpoint and Motion Planning for Efficient Visual Navigation Under Uncertainty about?
This paper proposes an on-line viewpoint planning method for a mobile robot to reach a goal position safely and quickly. When a robot passes ~xough a narrow space, it moves slowly while carefully observing surrounding objects and estimating the distances to the objects precisely. On the other hand, the robot moves quickly in a widely open space. To realize such a behavior of the robot, by considering both the predicted positional uncertainty and the configuration of obstacles, the viewpoint is adaptively determined according to the narrowness of the nearby environment. The planner works on-line to cope with actual errors. The robot motion is continuously performed with speed control between the planned viewpoints during visual processing. An experimental result using a mobile robot with stereo vision shows the validity of the proposed method.
Who reads On-line Viewpoint and Motion Planning for Efficient Visual Navigation Under Uncertainty?
It is typically read by researchers, students, and practitioners in Engineering.
- Author
- Inhyuk Moon; Jun Miura; Yoshiaki Shirai
- Publisher
- Elsevier Science; Elsevier ; Elsevier BV (ISSN 0921-8890)
- Published
- 1999
- Language
- EN
- Field
- Engineering (Physical Sciences)