Abstract
In this paper, we address the problem of searching an object with a mobile robot in a known 3-D environment. We consider a 7 degrees of freedom mobile manipulator with an “eye-in-hand” sensor. The sensor is limited in both range and field of view. In this work, we propose a solution to the “where to look” part of the object finding problem based on three main procedures: 1) We propose a practical and fast method to approximate the visibility region in 3D of a sensor limited in both range and field of view. 2) We generate candidate sensing configurations over the robot configuration space using sampling. 3) We determine an order for visiting sensing configurations using a heuristic.
We have implemented all our algorithms, and we present simulation results in challenging environments.
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Espinoza, J., Murrieta-Cid, R. (2010). A Motion Planner for Finding an Object in 3D Environments with a Mobile Manipulator Robot Equipped with a Limited Sensor. In: Kuri-Morales, A., Simari, G.R. (eds) Advances in Artificial Intelligence – IBERAMIA 2010. IBERAMIA 2010. Lecture Notes in Computer Science(), vol 6433. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16952-6_54
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DOI: https://doi.org/10.1007/978-3-642-16952-6_54
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