Hierarchical Vision-motion Planning With Uncertainty: Local Path Planning And Global Route Selection

Abstract

A new framework of a hierarchical vision-motion planning for a mobile robot under uncertainty is proposed. An optimal plan is generated by two-level planning: global route selection and local path planning. In global route selection, a sequence of observation points to acquire sufficient information to reach a destination is determined. Both the cost and the uncertainty of vision are considered in this planning. In local path planning, given two successive observation points, trajectories, moving speeds, and reference points for robot localization are determined so that a robot can reach the second point safely with a minimum cost. Both the error in localization and that in motion control are considered in this planning. A local path planner is repeatedly invoked in global route selection to determine an actual path between observation points. Our hierarchical planner can generate an optimal plan for a mobile robot planning problem. I. Introduction A mobile robot with vision moving to ...