不確実性を持つ離散的センサデータに基づく空間経路生成法とそのロボット倣い作業への応用 - 第2報 : シミュレーションによる特性評価 -

概要

論文の詳細を見る
This paper describes simulation results of CubeTrack Algorithm that is the spatial path generation algorithm proposed by the authors to realize a high reliability seam tracking robotic system which can operate even under poor sensing environments. CubeTrack Algorithm is evaluated on (a) Sensing error suppression characteristics and (b) Curved path restoration characteristics which are the most basic and important characteristics for path generation algorithm. Then, the relationship between <I>N</I> that is the number of sensing data used to generate path function by CubeTrack Algorithm and above two characteristics are obtained when sensing interval, standard deviation of sensing error and the minimum radius of curvature of the objective path are given. Based on the results, parameter design criterion appropriate to the task specification is described for CubeTrack Algorithm.
社団法人日本ロボット学会の論文
2000-03-15