Time-space Viewpoint Planning for Guard Robot with Chance Constraint

doi:10.1007/s11633-018-1146-7

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	Time-space Viewpoint Planning for Guard Robot with Chance Constraint
	Igi Ardiyanto 1; Jun Miura 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:4 页码:475-490
摘要	This paper presents a novel movement planning algorithm for a guard robot in an indoor environment, imitating the job of human security. A movement planner is employed by the guard robot to continuously observe a certain person. This problem can be distinguished from the person following problem which continuously follows the object. Instead, the movement planner aims to reduce the movement and the energy while keeping the target person under its visibility. The proposed algorithm exploits the topological features of the environment to obtain a set of viewpoint candidates, and it is then optimized by a cost-based set covering problem. Both the robot and the target person are modeled using geodesic motion model which considers the environment shape. Subsequently, a particle model-based planner is employed, considering the chance constraints over the robot visibility, to choose an optimal action for the robot. Simulation results using 3D simulator and experiments on a real environment are provided to show the feasibility and effectiveness of our algorithm.
关键词	Guard robot viewpoint planning state-time space uncertainty topology chance-constraint.
DOI	10.1007/s11633-018-1146-7
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42352
专题	学术期刊_Machine Intelligence Research
作者单位	1.Department of Electrical Engineering and Information Technology, Universitas Gadjah Mada, No. 2 Jl. Grafika, Yogyakarta 55281, Indonesia 2.Department of Computer Science and Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi, Aichi 441-8580, Japan
推荐引用方式 GB/T 7714	Igi Ardiyanto,Jun Miura. Time-space Viewpoint Planning for Guard Robot with Chance Constraint[J]. International Journal of Automation and Computing,2019,16(4):475-490.
APA	Igi Ardiyanto,&Jun Miura.(2019).Time-space Viewpoint Planning for Guard Robot with Chance Constraint.International Journal of Automation and Computing,16(4),475-490.
MLA	Igi Ardiyanto,et al."Time-space Viewpoint Planning for Guard Robot with Chance Constraint".International Journal of Automation and Computing 16.4(2019):475-490.

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