{"title":"不确定性运动规划:非最大预像的实用计算","authors":"J. Latombe, A. Lazanas, Shashank Shekhar","doi":"10.1109/IROS.1989.637927","DOIUrl":null,"url":null,"abstract":"Abutruct : We addrcss the problem of planning robot motions i n a two-dimensional configuration space in the presence of uncertainty i n both con(.rol and sensing. We consider the preimage h i r k d m n i r t q ; i p p r o d i to this prol)letn, which was first proposed by Lozano-I’Crw, Mason a n d rPdylor (1984). Wc describe two practic;rl tccli tiiqilcs for computing prcimages. One technique, wliicli WL‘ ( : d l Oackprojcc/ion from slicking cdgcs, was originated I)y I ) o i i ; i 1 ~ 1 (1988). ‘l’lic other, wliicli we call backprojection j rom qoo[ kcrtiel , W ~ L R origin;rtctl by Latombe (1988). Both techniques","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"181 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Motion Planning with Uncertainty: Practical Computation of Non-Maximal Preimages\",\"authors\":\"J. Latombe, A. Lazanas, Shashank Shekhar\",\"doi\":\"10.1109/IROS.1989.637927\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abutruct : We addrcss the problem of planning robot motions i n a two-dimensional configuration space in the presence of uncertainty i n both con(.rol and sensing. We consider the preimage h i r k d m n i r t q ; i p p r o d i to this prol)letn, which was first proposed by Lozano-I’Crw, Mason a n d rPdylor (1984). Wc describe two practic;rl tccli tiiqilcs for computing prcimages. One technique, wliicli WL‘ ( : d l Oackprojcc/ion from slicking cdgcs, was originated I)y I ) o i i ; i 1 ~ 1 (1988). ‘l’lic other, wliicli we call backprojection j rom qoo[ kcrtiel , W ~ L R origin;rtctl by Latombe (1988). Both techniques\",\"PeriodicalId\":332317,\"journal\":{\"name\":\"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications\",\"volume\":\"181 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-09-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1989.637927\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1989.637927","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
摘要
摘要:本文研究了在二维构型空间中存在不确定性的机器人运动规划问题。罗尔和传感。我们考虑原像h i r k d m n i r t q;它是由Lozano-I 'Crw, Mason和rPdylor(1984)首先提出的。我们将描述计算实践的两种实用的技术技巧。其中一种技术，即从光滑的毛坯中提取出的激光投影技术，起源于2008年。1 ~ 1(1988)。“l 'lic, wliicli我们称之为反向投影j罗酷儿(kcrtiel, W ~ l R起源;rtctl Latombe(1988)。这两种技术
Motion Planning with Uncertainty: Practical Computation of Non-Maximal Preimages
Abutruct : We addrcss the problem of planning robot motions i n a two-dimensional configuration space in the presence of uncertainty i n both con(.rol and sensing. We consider the preimage h i r k d m n i r t q ; i p p r o d i to this prol)letn, which was first proposed by Lozano-I’Crw, Mason a n d rPdylor (1984). Wc describe two practic;rl tccli tiiqilcs for computing prcimages. One technique, wliicli WL‘ ( : d l Oackprojcc/ion from slicking cdgcs, was originated I)y I ) o i i ; i 1 ~ 1 (1988). ‘l’lic other, wliicli we call backprojection j rom qoo[ kcrtiel , W ~ L R origin;rtctl by Latombe (1988). Both techniques
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