Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment |
| |
| Authors: | Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato Fumitoshi Matsuno |
| |
| Affiliation: | 1.Department of Mechanical Engineering and Sciences, Graduate School of Engineering,Kyoto University,Kyoto,Japan;2.Kokuyo Co.,Osaka,Japan;3.Department of Electrical and Electronic Engineering,Nagoya Institute of Technology,Aichi,Japan |
| |
| Abstract: | Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given. |
| |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ |
|
