未知空間における非ホロノミック移動ロボットのオンラインパスプランニング : シミュレーションと実走行によるアルゴリズムの実証

概要

論文の詳細を見る
In the present research we aim to verify a newly developed on-line path-planning algorithm that directs a non-holonomic robot to a goal while avoiding obstacles in an uncertain 3-d world easily and reliably. The developed robot runs on two wheels and is equipped with a visual sensor (CCD camera) with a restricted view field, Please clarify, a gyrocompass and a means of measuring and recording wheel running distance to recognize its position. Furthermore, as this robot is controlled by a parallel processor called a transputer, it can perform four types of distributed processing simultaneously: autonomous position inference, image measurement processing, running control, and running algorithm monitoring. In experiments, the robot reached its goal without coming into contact with any obstacles. As a result, it was verified that this developed sensor-based path-planning algorithm was effective for this nonholonomic mobile robot.
一般社団法人日本機械学会の論文
1996-11-25