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