Time-space Viewpoint Planning for Guard Robot with Chance Constraint

作     者：Igi Ardiyanto Jun Miura 

作者机构：Department of Electrical Engineering and Information Technology Universitas Gadjah Mada No. 2 Jl. Grafika Yogyakarta 55281 Indonesia Department of Computer Science and Engineering Toyohashi University of Technology 1-1 Hibarigaoka Tenpaku-cho Toyohashi Aichi 441-8580 Japan 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2019年第16卷第4期

页      面：475-490页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

主　　题：Guard robot viewpoint planning state-time space uncertainty topology chance-constraint 

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.