Multiresolution Constraint Modeling For Mobile Robot Planning

Anthony Stentz

doi:10.1117/12.970004

1 March 1990 Multiresolution Constraint Modeling For Mobile Robot Planning

Anthony Stentz

Proceedings Volume 1198, Sensor Fusion II: Human and Machine Strategies; (1990) https://doi.org/10.1117/12.970004
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

All navigation systems for a mobile robot include a basic sense-plan-drive cycle for moving the robot about. The navigator must choose sensing points, plan paths between them, and oversee the execution of the robot's trajectory. Various constraints must be met in selecting potential sensing points, feasible trajectories, and safe configurations, all while taking positional unceitainty into account. We have developed a local planner that finds trajectories for a robot by modeling all of the constraints uniformly. At each step in the planning process, the system identifies and uses the most severe constraint to guide the search. A multi-resolution approximation to the constraint solution space is employed to reduce the number of search states, and thus the planning time. The system has been implemented and tested on real data. The results are presented.

Citation Download Citation

Anthony Stentz "Multiresolution Constraint Modeling For Mobile Robot Planning", Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); https://doi.org/10.1117/12.970004

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available