Saving Time for Object Finding with a Mobile Manipulator Robot in 3-D Environment

Authors

  • Judith Espinoza
  • Rafael Murrieta-Cid Centro de Investigación en Matemáticas, A.C.

DOI:

https://doi.org/10.13053/cys-19-1-1910

Keywords:

Search, path planning, 3-D visibility, 3-D coverage

Abstract

In this paper, we address the problem ofreducing the time for finding an object. We consider boththe time taken by our software to generate a search planand the expected time to find the object when the planis executed. The object is sought with a 7 degree offreedom mobile manipulator robot with an “eye-in-hand”sensor. The sensor is limited in both range and fieldof view. We propose two main strategies: 1) to coordinatethe motion of robot’s degrees of freedom optimizingonly those most relevant for the task, and 2) to repaira previously computed plan whenever the environmentchanges locally. We have implemented all our algorithmsand present simulation results in realistic environments.

Author Biography

Rafael Murrieta-Cid, Centro de Investigación en Matemáticas, A.C.

Senior Research ScientistComputer Science Department

Downloads

Additional Files

Published

2015-03-27

Issue

Vol. 19 No. 1 (2015): 19(1) January-March 2015

Section

Articles

License 

Hereby I transfer exclusively to the Journal "Computación y 
Sistemas", published by the Computing Research Center (CIC-IPN),
the Copyright of the aforementioned paper. I also accept that these 
rights will not be transferred to any other publication, in any other 
format, language or other existing means of developing.
I certify that the paper has not been previously disclosed or simultaneo
usly submitted to any other publication, and that it does not contain 
material whose publication would violate the Copyright or other 
proprietary rights of any person, company or institution. I certify that 
I have the permission from the institution or company where I work or 
study to publish this work.
The representative author accepts the responsibility for the publication
of this paper on behalf of each and every one of the authors. 
This transfer is subject to the following conditions:
  • The authors retain all ownership rights (such as patent rights) of this work, except for the publishing rights transferred to the CIC, through this document.
  • Authors retain the right to publish the work in whole or in part in any book they are the authors or publishers. They can also make use of this work in conferences, courses, personal web pages, and so on.
  • Authors may include working as part of his thesis, for non-profit distribution only.