Accession Number : ADA323613
Title : Robot Motion Planning with Uncertainty in Control and Sensing.
Descriptive Note : Research rept.,
Corporate Author : STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
Personal Author(s) : Latombe, J. C. ; Lazanas, A. ; Shekhar, S.
PDF Url : ADA323613
Report Date : NOV 1989
Pagination or Media Count : 52
Abstract : In this paper, we consider the problem of planning motion strategies in the presence of uncertainty in both control and sensing for simple robots described in a two dimensional configuration space. We consider the preimage backchaining approach to this problem. which was first proposed by Lozano-Perez. Mason and Taylor (1984). Although attractive, the approach raises several difficult computational issues. One of them, which is directly addressed in this paper. is preimage computation. We describe two practical methods for computing preimages, which we call backprojection from sticking edges and backprojection from goal kernel. Also discussed non-implemented improvements of this planner and additional results.
Descriptors : *ROBOTS, *MOTION, *AUTONOMOUS NAVIGATION, ALGORITHMS, UNCERTAINTY, ADAPTIVE CONTROL SYSTEMS, STRATEGY, TWO DIMENSIONAL, PLANNING, CONFIGURATIONS, NUMERICAL METHODS AND PROCEDURES.
Subject Categories : Cybernetics
Navigation and Guidance
Distribution Statement : APPROVED FOR PUBLIC RELEASE