目標方向情報による移動ロボットのナビゲーションアルゴリズム

概要

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This paper proposes a sensor-based navigation algorithm for mobile robots using information of target direction. The mobile robot moves from an initial position to a desired target position in obstructed environment by the navigation algorithm, where the robot does not know positions and shapes of obstacles, but only knows local information on obstacle's wall and target direction by it's sensor. The algorithm uses target direction instead of robot's position information which is used in other sensor-based navigation algorithm. This navigation method has robustness on the measurement error of target direction, while other navigation algorithms may not be able to work if the robot's position has measurement error. The main point of the algorithm is using the rotational angle of the robot based on topological characteristic of obstacles. Some simulations using the sensorbased navigation algorithm show an effectiveness by comparison of the proposed method and a conventional position based algorithm. Experimental navigation system using the proposed algorithm is developed for confirming the validity of the simulation study.
一般社団法人日本機械学会の論文
1999-03-25