Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

The peg-in-hole task with object feature uncertain is a typical case of robotic operation in the real-world unstructured environment. It is nontrivial to realize object perception and operational decisions autonomously, under the usual visual occlusion and real-time constraints of such tasks. In this paper, a Bayesian networks-based strategy is presented in order to seamlessly combine multiple heterogeneous senses data like humans. In the proposed strategy, an interactive exploration method implemented by hybrid Monte Carlo sampling algorithms and particle filtering is designed to identify the features' estimated starting value, and the memory adjustment method and the inertial thinking method are introduced to correct the target position and shape features of the object respectively. Based on the Dempster-Shafer evidence theory (D-S theory), a fusion decision strategy is designed using probabilistic models of forces and positions, which guided the robot motion after each acquisition of the estimated features of the object. It also enables the robot to judge whether the desired operation target is achieved or the feature estimate needs to be updated. Meanwhile, the pliability model is introduced into repeatedly perform exploration, planning and execution steps to reduce interaction forces, the number of exploration. The effectiveness of the strategy is validated in simulations and in a physical robot task.