NDLI: Manipulator path planning in unknown environments using model based planners: Conversion criteria and IPA sensor implementation

Content Provider	IEEE Xplore Digital Library
Author	Um, D. Putra, H.C.
Copyright Year	2009
Description	Author affiliation: Texas A&M University at Corpus Christi. 78412, USA (Um, D.)
Abstract	Path planning in unknown environments such as Mars or underwater are not only challenging but also daunting tasks. While significant advances are made for mobile platforms, manipulator motion planning in unknown environments still falls short of full fledged solutions due to the uncertainty and complexity of higher order configuration spaces. Most feasible solutions proposed so far are either modeling unknown environments in realtime or applying randomized model based planners with sensitive skin type sensors. Although solving unknown environment planning problems with randomized model based approaches seems very promising, no systematic study has been reported as to how to adopt model based planners into the sensor based problem domain effectively. In this paper, we study the adoption issues of model based planners to tackle sensor based planning problems, and hence provide conversion guidelines from one to other problem domain. In addition, we discuss the range effect of the sensitive skin type sensor, IPA, for on-line planning in unknown environments. Some experimental results in an unknown environment are presented in the paper as well.
Starting Page	273
Ending Page	278
File Size	379207
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354798
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Skin Robot sensing systems Manipulators Sensor systems Sampling methods Strategic planning Space exploration Upper bound Intelligent robots collision avoidance sensor based planning randomized sampling unknown environment motion planning
Content Type	Text
Resource Type	Article

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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
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