| Revue: | Computación y sistemas |
| Base de datos: | PERIÓDICA |
| Número de sistema: | 000383406 |
| ISSN: | 1405-5546 |
| Autores: | Espinoza, Judith1 Murrieta Cid, Rafael1 |
| Instituciones: | 1Centro de Investigación en Matemáticas, Guanajuato. México |
| Año: | 2015 |
| Periodo: | Ene-Mar |
| Volumen: | 19 |
| Número: | 1 |
| Paginación: | 29-46 |
| País: | México |
| Idioma: | Inglés |
| Tipo de documento: | Artículo |
| Enfoque: | Analítico, descriptivo |
| Resumen en inglés | In this paper, we address the problem of reducing the time for finding an object. We consider both the time taken by our software to generate a search plan and the expected time to find the object when the plan is executed. The object is sought with a 7 degree of freedom mobile manipulator robot with an "eye-in-hand" sensor. The sensor is limited in both range and field of view. We propose two main strategies: 1) to coordinate the motion of robot's degrees of freedom optimizing only those most relevant for the task, and 2) to repair a previously computed plan whenever the environment changes locally. We have implemented all our algorithms and present simulation results in realistic environments |
| Disciplinas: | Ciencias de la computación |
| Palabras clave: | Inteligencia artificial, Ingeniería biónica y cibernética, Robots manipuladores, Localización de objetos, Planeación de trayectorias |
| Keyword: | Computer science, Artificial intelligence, Bionics and cybernetics, Manipulator robots, Object finding, Path planning |
| Texte intégral: | Texto completo (Ver HTML) |
