NDLI: Practical motion planning with visual constraints

Content Provider	IEEE Xplore Digital Library
Author	Sutanto, H. Sharma, R.
Copyright Year	1997
Description	Author affiliation: Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA (Sutanto, H.)
Abstract	The success of an autonomous assembly task relies on a motion planning system to generate a plan to accomplish the task, and on a sensor-based robot control system to ensure successful execution of the plan. The decoupling of sensor-based robot control from motion planning may yield undesirable motion plans that do not utilize the sensing effectively or consider sensor constraints. For example, a feasible collision-free path may be hard to traverse in practice because of inadequate sensor feedback in certain regions under uncertainty and sensor limitations. In this paper we consider an approach for motion planning that incorporates visual servoing constraints into the computation of the motion plans. The approach extends the notion of configuration space to include the corresponding sensor values. We propose a hierarchical representation of the high dimensional planning space involved, and a multistrategic heuristics search. This results in a practical motion planning scheme that is proven to be resolution-complete. Performance results are described for several robot manipulators with up to 6-DOF and under various sensing constraints.
Starting Page	237
Ending Page	242
File Size	869633
Page Count	6
File Format	PDF
ISBN	0780338200
DOI	10.1109/ISATP.1997.615414
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-08-07
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Robot control Assembly systems Robotic assembly Feedback Uncertainty Visual servoing Robot sensing systems Orbital robotics Manipulators
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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