Servicios Personalizados
Revista
Articulo
Indicadores
- Citado por SciELO
- Accesos
Links relacionados
- Similares en SciELO
Compartir
Computación y Sistemas
versión On-line ISSN 2007-9737versión impresa ISSN 1405-5546
Resumen
ESPINOZA, Judith y 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.
Palabras llave : Search; path planning; 3D visibility; 3D coverage.