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

Keiji Nagatani, Shin'ichi Yuta

研究成果

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル1993 International Conference on Intelligent Robots and Systems
編集者 Anon
出版社Publ by IEEE
ページ2198-2203
ページ数6
ISBN(印刷版)0780308239
出版ステータスPublished - 1993 12 1
イベントProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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