Attractive regions in the environment [motion planning]

CASIA OpenIR > 09年以前成果

	Attractive regions in the environment [motion planning]
	Qiao H(乔红); Hong Qiao
	2000
会议名称	Proceedings 2000 ICRA. IEEE International Conference on Robotics and Automation
会议录名称	Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
会议日期	24-28 April 2000
会议地点	San Francisco, CA, USA
摘要	In general, it is believed that the sensor-less manipulation can only achieve low-precision or simple tasks. However, it is not always true. We point out that there are two attractive regions. In the motion space of the dynamic system with an active control system, which bases on sensory feedback, there is an attractive region, which forces the system to follow the nominal trajectory with the uncertainty of the system. At the same time, there is another attractive region, which widely exists in the configuration space of the dynamic system under constraints from environment. Both of these two attractive regions can be used to eliminate the uncertainty of the system states in order to achieve high-precision tasks. This paper focuses on the effective use of attractive regions in the environment to eliminate the uncertainty. However, in general, sensors are still useful and play an important role in many systems. Thus this work is related to the approach on the relationship between required information and strategy investigation.
关键词	无
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12835
专题	09年以前成果
通讯作者	Hong Qiao
作者单位	Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong
推荐引用方式 GB/T 7714	Qiao H,Hong Qiao. Attractive regions in the environment [motion planning][C],2000.