Planning with Uncertainty in Position: an Optimal Planner

Juan Pablo Gonzalez and Anthony (Tony) Stentz
tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004


Download
  • Adobe portable document format (pdf) (945KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We propose a resolution-optimal planner that considers uncertainty while optimizing any monotonic objective function such as mobility cost, risk, energy expended, etc. The resulting path is a one that minimizes the expected cost value of the objective function, while ensuring that the uncertainty in the position of the robot does not compromise the safety of the robot or the reachability of the goal

Keywords
mobile robot, path planning, uncertainty, optimal planner, error propagation

Notes
Sponsor: U.S. Army Research Laboratory
Grant ID: DAAD19-01-2-0012
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics

Text Reference
Juan Pablo Gonzalez and Anthony (Tony) Stentz, "Planning with Uncertainty in Position: an Optimal Planner," tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004

BibTeX Reference
@techreport{Gonzalez_2004_4834,
   author = "Juan Pablo Gonzalez and Anthony (Tony) Stentz",
   title = "Planning with Uncertainty in Position: an Optimal Planner",
   booktitle = "",
   institution = "Robotics Institute",
   month = "November",
   year = "2004",
   number= "CMU-RI-TR-04-63",
   address= "Pittsburgh, PA",
}