Tham khảo tài liệu 'sensing intelligence motion - how robots & humans move - vladimir j. lumelsky part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 126 MOTION PLANNING FOR A MOBILE ROBOT TangentBug in turn has inspired procedures WedgeBug and RoverBug 69 70 by Laubach Burdick and Matthies which try to take into account issues specific for NASA planet rover exploration. A number of schemes with and without proven convergence have been reported by Noborio 71 . Given the practical needs it is not surprising that many attempts in sensorbased planning strategies focus on distance sensing stereo vision laser range sensing and the like. Some earlier attempts in this area tend to stick to more familiar graph-theoretical approaches of computer science and consequently treat space in a discrete rather than continuous manner. A good example of this approach is the visibility-graph based approach by Rao et al. 72 . Standing apart is the approach described by Choset et al. 73 74 which can be seen as an attempt to fill the gap between the two paradigms motion planning with complete information Piano Mover s model and motion planning with incomplete information other names are sensor-based planning or Sensing-Intelligence-Motion SIM . The idea is to use sensor-based planning to first build the map and then the Voronoi diagram of the scene so that the future robot trips in this same area could be along shorter paths for example along links of the acquired Voronoi diagram. These ideas and applications that inspire them are different from the go-from-A-to-B problem considered in this book and thus beyond our scope. They are closer to the systematic space exploration and map-making. The latter called in the literature terrain acquisition or terrain coverage might be of use in tasks like robot-assisted map-making floor vacuuming lawn mowing and so on see . Refs. 1 and 75 . While most of the above works provide careful analysis of performance and convergence the engineering approach heuristics to sensor-based motion planning procedures usually discuss their performance in terms of consistently better than or better in our .
