2P1-D04 計算機クラスタを利用したオンライン動力学シミュレーションによる失敗時の復帰困難性に着目した動作評価を含んだ動作計画法

概要

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In this paper, a method to evaluate some motion sequences generated by motion planner is presented. The evaluation is based on predicted effects to dynamics world and difficulty to recover from the faults when a motion sequence is executed. This method is not a part of motion planner, but independent of motion planner toward integration of some motion planning methodology. The key features of this method are: 1) estimation of position level fault importance and symbolic level fault importance based on difficulty to recover from the faults. 2) online dynamics simulation using PC cluster consortium to simulate many times. 3) dead-line based soft real-time parallel computation to reduce amount of latency.
一般社団法人日本機械学会の論文