Abstract
We present an implemented sensor-based planner for motion planning and exploration for eye-in-hand systems. A model-based motion planner is used to plan paths within the known part of the environment to further sense the unknown part of the environment. Each sensing action is viewed as gaining information about the status of configuration space. We introduce the notion of C-space entropy as a measure of ignorance or lack of information of C-space. The next view is planned so as to maximize expected entropy reduction (MER), or equivalently, expected information increase. Experimental results demonstrate that MER criterion results in efficient exploration of unknown environments and that the planner can make a robot arm move around safely (without collisions) while carrying out exploratory and purposive tasks in unknown environments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
V.J. Lumelsky and E Cheung. Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators. IEEE Transactions on Systems, Man and Cybernetics, 23(1):194–203, Jan.–Feb 1993.
K. Hirai, M. Hirose, M. Haikawa, and T. Takenaka. The development of honda humanoid robot. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1321–1326, 1998.
Kamal Gupta and Yong Yu. On eye-sensor based path planning for robots with non-trivial geometry/kinematics. accepted for IEEE International Conference on Robotics and Automation, 2001.
Kamal K. Gupta and Angel del Pobil, editors. Practical Motion Planning in Robotics: Current Approaches and Future Directions. John Wiley, 1998.
L. Kavraki, P. Svestka, J. Latombe, and M. Overmars. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):556–580, Aug 1996.
J. Ahuactzin and A. Portilla. A basic algorithm and data structure for sensor-based path planning in unknown environment. In Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2000.
Y. Yu and K. Gupta. Sensor-based roadmaps probabilistic roadmaps: Experiments with an eye-in-hand system. Advanced Robotics, 14(8), August 2000. A version also appeared In Proceedings of IEEE/RSI International Conference on Intelligent Robot and System, pages 1707–1714, 1999.
Y. Yu and K. Gupta. Sensor-based motion planning for manipulator arms: An eye-in-hand system. In IEEE International Conference on Robotics and Automation video session, 2000.
Y. Yu and K. Gupta. An information theoretic approach to view point planning for motion planning of eye-in-hand systems. In Proceedings of 31st International Symposium on Robotics, pages 306–311, 2000.
Yong Yu and Kamal Gupta. An information theoretical approach to view planning with kinematic and geometric constraints. accepted for IEEE International Conference on Robotics and Automation, 2001.
Yong Yu. An information theoretical incremental approach to sensor-based motion planning for eye-in-hand systems. Ph.D. Thesis. School of Engineering Science, Simon Eraser University. Canada. 2000.
E. Kruse, R. Gutsche, and F. Wahl. Effective, iterative, sensor based 3-d map building using rating functions in configuration space. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1067–1072, 1996.
P. Renton, M. Greenspan, H. Elmaraghy, and H. Zghal. Plan-n-scan: A robotic system for collision free autonomous exploration and workspace mapping. Journal of Intelligent and Robotic System, 24:207–234, 1999.
S. Hutchinson and A. Kak. Planning sensing strategies in a robot work cell with multi-sensor capabilities. IEEE Transaction on Robotics and Automation, 5(6):765–783, December 1989.
D. Stoyan and W.S. Kendall. Stochastic geometry and its applications. J. Wiley, 1995.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yu, Y., Gupta, K.K. (2001). View Planning via C-space Entropy for Efficient Exploration with Eye-in-Hand Systems. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_38
Download citation
DOI: https://doi.org/10.1007/3-540-45118-8_38
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-42104-7
Online ISBN: 978-3-540-45118-1
eBook Packages: Springer Book Archive