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ID 33071
FullText URL
Author
Irie, Masahiro
Nagatani, Keiji
Abstract

An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.

Keywords
distance measurement
error analysis
mobile robots
navigation
path planning
Note
Published with permission from the copyright holder. This is the institute's copy, as published in Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on, 16-20 July 2003, Vol. 1,Pages 485-490.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1222137
Copyright © 2003 IEEE. All rights reserved.
Published Date
2003-7
Publication Title
Computational Intelligence in Robotics and Automation
Volume
volume1
Start Page
485
End Page
490
Content Type
Journal Article
language
英語
Refereed
True
Submission Path
mechanical_engineering/31