Design of Action-value Function in Motion Planning for Autonomous Blimp Robots
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概要
- 論文の詳細を見る
The final goal of this study is to achieve an autonomous indoor blimp robot. While blimp robots are attractive entities moving safely in three dimensional space, they are hard to control autonomously as they are subjected to strong inertial forces and air resistance, and have many nonlinear characteristics. As blimp robots are used not only in vast halls but also in complex buildings with obstacles such as pillars and walls, they need to plan suitable motion for avoiding them. Furthermore, robots need to conserve energy with restricted power supply because they are unable to carry heavy batteries. We have to design an action-value function for planning motion in a blimp robot, considering constraints imposed by these characteristics of an actual robot. In this paper, we designed an action-value function for motion planning based on the potential field method, and evaluated its effectiveness in a simulated environment.
- 社団法人 電気学会の論文
- 2004-10-01
著者
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Ohuchi A
Hokkaido Univ. Sapporo‐shi Jpn
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Ohuchi Azuma
Graduated School Of Engineering Hokkaido University
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Yamamoto M
Graduate School Of Information Science And Technology Hokkaido University
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Yamamoto M
Presto Japan Science And Technology Cooperation (jst) And Graduate School Of Engineering Hokkaido Un
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MOTOYAMA Keiko
Graduate School of Engineering, Hokkaido University
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KAWAMURA Hidenori
Graduate School of Engineering, Hokkaido University
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YAMAMOTO Masahito
Graduate School of Engineering, Hokkaido University
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Motoyama Keiko
Graduate School Of Engineering Hokkaido University
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Ohuchi Azuma
Graduate School Of Information Science And Technology Hokkaido University
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OHUCHI AZUMA
Graduate School of Engineering, Hokkaido University
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