S151012 生活環境走行のための観測動作計画([S15101]人の生活を支援するロボットシステム(1))

概要

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This paper proposes observation planning algorithm for running in living space. In living spaces, layout of the environments will be change because humans that living in the environments moves it. Therefore, robots need abilities to sense and avoid the environment changes. Sensors for mobile robots have limitation, these are measuring time, field of view, measurement error, and so on. Therefore, robots need to move the sensors to measure sweeping region. In this paper, planning algorithm for path and measuring are proposed. The proposed algorithm optimizes path and sensing direction of the robot for safety and fast navigation in living environments. The paper describes problem settings for measuring planning in living environments and planning algorithms to solve the problem.
一般社団法人日本機械学会の論文
2011-09-11