Path and sensing point planning for mobile robot navigation to minimize the risk of collision

Keiji Nagatani, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

In this paper, a new path planning algorithm for mobile robotics is proposed. When a mobile robot is navigating, the error in estimated position of the robot increases in proportion to the traveling distance. Because of this error, the robot has a greater risk of collision with objects in the environment. To reduce this error, roobt should obtain environment information by using its environment sensors, and modify it's estimated position accordingly. In this paper, the cost function for the mobile robot's path which minimizes the risk of collision, and the algorithm to find the optimal path and sensing points are proposed. The authors implemented the proposed algorithm on real robot system, and made several experiments to verify this algorithm.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages2198-2203
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

Fingerprint

Mobile robots
Navigation
Planning
Robots
Motion planning
Cost functions
Robotics
Sensors
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nagatani, K., & Yuta, S. (1993). Path and sensing point planning for mobile robot navigation to minimize the risk of collision. In Anon (Ed.), 1993 International Conference on Intelligent Robots and Systems (pp. 2198-2203). Piscataway, NJ, United States: Publ by IEEE.

Path and sensing point planning for mobile robot navigation to minimize the risk of collision. / Nagatani, Keiji; Yuta, Shinichi.

1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 2198-2203.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagatani, K & Yuta, S 1993, Path and sensing point planning for mobile robot navigation to minimize the risk of collision. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, Piscataway, NJ, United States, pp. 2198-2203, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 93/7/26.
Nagatani K, Yuta S. Path and sensing point planning for mobile robot navigation to minimize the risk of collision. In Anon, editor, 1993 International Conference on Intelligent Robots and Systems. Piscataway, NJ, United States: Publ by IEEE. 1993. p. 2198-2203
Nagatani, Keiji ; Yuta, Shinichi. / Path and sensing point planning for mobile robot navigation to minimize the risk of collision. 1993 International Conference on Intelligent Robots and Systems. editor / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. pp. 2198-2203
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