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ID 33071
フルテキストURL
著者
Irie, Masahiro Okayama University
Nagatani, Keiji Okayama University
Gofuku, Akio Okayama University Kaken ID publons researchmap
抄録

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.

キーワード
distance measurement
error analysis
mobile robots
navigation
path planning
備考
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.
発行日
2003-7
出版物タイトル
Computational Intelligence in Robotics and Automation
1巻
開始ページ
485
終了ページ
490
資料タイプ
学術雑誌論文
言語
English
査読
有り
Submission Path
mechanical_engineering/31