A Method of Planning Movement and Observation for a Mobile Robot Considering Uncertainties of Movement, Visual Sensing, and a Map
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概要
- 論文の詳細を見る
We present a method of route selection for a vision guided mobile robot with art odometry system, given an uncertain map. The robot first generates candidates of the routes, which are expanded to possible loci in consideration of the map uncertainty. It then makes an observation and movement plan along each locus and computes the minimum traveling time. Uncertainties of movement and visual sensing are considered in this step. Finally, for each candidate route, the robot computes its expected traveling time from probabilities of loci It selects the route with the least expected traveling time as the optimal route. The advantage of the planning method is that the observation and movement planning are incorporated in path planning to obtain the optimal plan. The three sources of uncertainty are considered in a unified manner in our method. The method has been implemented and tested to validate our claim.
- 2000-06-15
著者
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HAYASHI Akira
Department of Biopharmaceutics, Graduate School of Pharmaceutical Sciences, Osaka University
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Hayashi A
Department Of Information Machines And Interfaces Hiroshima City University
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Miura Jun
Department Of Clinical Pharmacology Hirosaki University Graduate School Of Medicine
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Li Shigang
Department Of Information Machines And Interfaces Hiroshima City University
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Li Shigang
Department Of Computer And Information Systems Faculty Of Engineering Iwate University
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Shirai Yoshiaki
Department Mechanical Engineering For Computer-controlled Machinery Osaka University
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KANBARA Toshihiko
Department of Information Machines and Interfaces, Hiroshima City University
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Kanbara Toshihiko
Department Of Information Machines And Interfaces Hiroshima City University
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Miura Jun
Department Of Mechanical Engineering For Computer-controlled Machinery Osaka University
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Hayashi Akira
Department 4 Planning Division Motorcycle R&d Center Honda R&d Co. Ltd.
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Miura Jun
Department of Applied Physics, Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-8601, Japan
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