ローカルプランニングによる移動ロボットの経路計画

概要

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This paper describes a local path planning method of a mobile robot to search path in an unknown environment by using visual information. The mobile robot system has a hierarchical path planning system which searches path efficiently in an uncertain environment. The planning system consists of a global planner and a local planner. The global planner gives a global path in termes of a sequence of visual sub-goals. Then the local planner generates a local path between the sub-goals with the help of visual sensor. The main focus of this paper is on the local path planning which provides real-time guidance to the system. Visual sensor can provide useful information about the environment. So an algorithm is proposed to generate avoiding points by using visual information to bypass unknown obstacles in the local path planning. The local path planning in simple environment is simulated by using three dimensional graphics. A simple experiment is also done for the case that there are two obstacles. The validity of the proposed method is verified by these simulations and experimental results.
一般社団法人日本ロボット学会の論文