Abstract

ESPINOZA, Judith  and  MURRIETA-CID, Rafael. Saving Time for Object Finding with a Mobile Manipulator Robot in 3D Environment. Comp. y Sist. [online]. 2015, vol.19, n.1, pp.29-45. ISSN 2007-9737.  https://doi.org/10.13053/CyS-19-1-1910.

In this paper, we address the problem of reducing the time for finding an object. We consider both the time taken by our software to generate a search plan and the expected time to find the object when the plan is executed. The object is sought with a 7 degree of freedom mobile manipulator robot with an "eye-in-hand" sensor. The sensor is limited in both range and field of view. We propose two main strategies: 1) to coordinate the motion of robot's degrees of freedom optimizing only those most relevant for the task, and 2) to repair a previously computed plan whenever the environment changes locally. We have implemented all our algorithms and present simulation results in realistic environments.

Keywords : Search; path planning; 3D visibility; 3D coverage.

        · text in English     · English ( pdf )