Saving Time for Object Finding with a Mobile Manipulator Robot in 3D Environment
Judith Espinoza and Rafael Murrieta-Cid
Centro de Investigación en Matemáticas, CIMAT, Guanajuato, México. jespinoza@cimat.mx, murrieta@cimat.mx
Corresponding author is Rafael Murrieta-Cid.
]]> Article received on 12/11/2013.
Abstract
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.
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Acknowledgements
]]> This work was partially funded by CONACYT Project 106475 and by the NSF-CONACYT Project J110.534/2006.
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