人工知能学会誌（1986～2013, Print ISSN:0912-8085）
プラニングコストと視覚の不確かさを考慮した移動ロボットの視覚と行動のプラニング
1998 年 13 巻 4 号 p. 588-596
詳細
1998 年 13 巻 4 号 p. 588-596
This paper proposes a planning method for a vision-guided mobile robot under limited computational resources and vision uncertainty. The method considers the following two trade-offs : (1) granularity in approximating a probabilistic distribution vs. plan quality, and (2) search depth vs. plan quality. The first trade-off is managed by predicting the plan quality for a granularity using a learned relationship between them, and by adaptively selecting the best granularity. The second trade-off is managed by formulating the planning process as a search in the space of feasible plans, and by appropriately limiting the search considering the merit of each step of the search. Simulation results show the feasibility of the method.
