In this paper we introduce the problem of planning for perception of a target position. Given a sensing target, the robot has to move to a goal position from where the target can be perceived. Our algorithm minimizes the overall path cost as a function of both motion and perception costs, given an initial robot position and a sensing target. We contribute a heuristic search method, PA~*, that efficiently searches for an optimal path. We prove the proposed heuristic is admissible, and introduce a new goal state stopping condition.
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