1P1-L04 確率的サンプリングを用いた動的環境における移動ロボットの時空間経路計画(車輪型/クローラ型移動ロボット)

概要

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This paper describes time-space path planning algorithms for mobile robots. In usual environments, both static obstacles, like walls and pillars, and dynamic ones, like people exist that prevent a robot from going directly to a destination. Our path planner generates paths considering kinematic and dynamic constraints of actual robots. For efficiency, the planner uses a random search method based on a probabilistic sampling. To avoid both static and dynamic obstacles effectively, we compute a time-space potential field based on a short-term obstacle motion prediction, and then use it as a bias (time-space goal-directed bias) for sampling. A time-space goal-directed bias gives larger weights to shorter and safer paths towards a destination. We evaluate the proposed algorithm in a simulated environment.
一般社団法人日本機械学会の論文
2011-05-26