TY - JOUR
T1 - Optimal motion planning and stopping test for 3-D object reconstruction
AU - Yervilla-Herrera, Heikel
AU - Vasquez-Gomez, J. Irving
AU - Murrieta-Cid, Rafael
AU - Becerra, Israel
AU - Sucar, L. Enrique
N1 - Publisher Copyright:
© 2018, Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2019/1/24
Y1 - 2019/1/24
N2 - In this work, two aspects of motion planning for object reconstruction are investigated. First, the effect of using a sampling-based optimal motion planning technique to move a mobile manipulator robot with 8 degrees of freedom, during the reconstruction process, in terms of several performance criteria is studied. Based on those criteria, the results of the reconstruction task using rapidly exploring random tree (RRT) approaches are compared, more specifically RRT* smart versus RRT* versus standard RRT. Second, the problem of defining a convenient stopping probabilistic test to terminate the reconstruction process is addressed. Based on our results, it is concluded that the use of a RRT* improves the measured performance criteria compared with a standard RRT. The simulation experiments show that the proposed stopping test is adequate. It stops the reconstruction process when all the portions of object that are possible to be seen have been covered with the field of view of the sensor.
AB - In this work, two aspects of motion planning for object reconstruction are investigated. First, the effect of using a sampling-based optimal motion planning technique to move a mobile manipulator robot with 8 degrees of freedom, during the reconstruction process, in terms of several performance criteria is studied. Based on those criteria, the results of the reconstruction task using rapidly exploring random tree (RRT) approaches are compared, more specifically RRT* smart versus RRT* versus standard RRT. Second, the problem of defining a convenient stopping probabilistic test to terminate the reconstruction process is addressed. Based on our results, it is concluded that the use of a RRT* improves the measured performance criteria compared with a standard RRT. The simulation experiments show that the proposed stopping test is adequate. It stops the reconstruction process when all the portions of object that are possible to be seen have been covered with the field of view of the sensor.
KW - Object reconstruction
KW - Optimal motion planning
KW - Termination test
UR - http://www.scopus.com/inward/record.url?scp=85055319249&partnerID=8YFLogxK
U2 - 10.1007/s11370-018-0264-y
DO - 10.1007/s11370-018-0264-y
M3 - Artículo
AN - SCOPUS:85055319249
SN - 1861-2776
VL - 12
SP - 103
EP - 123
JO - Intelligent Service Robotics
JF - Intelligent Service Robotics
IS - 1
ER -