移動ロボットの走行安全性に基づく可変分解能速度マップ生成

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概要

• 論文の詳細を見る

• This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of continuous state space. Unlike conventional roadmaps which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where velocity ranges are determined by variable-resolution partitioning of velocity space. An ordered pair of nodes are connected by a directed link if any combination of velocity values within the ranges represented by the nodes produce a trajectory satisfying a set of safety constraints. In this manner, an executable trajectory connecting arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations.

著者

• 田崎 勇一

  Deputy of Mechanical Science & Engineering, Nagoya University

• 項 警宇

  Deputy of Mechanical Science & Engineering, Nagoya University

• 鈴木 達也

  Deputy of Mechanical Science & Engineering, Nagoya University

• 鈴木 達也

  Deputy of Mechanical Science & Engineering, Nagoya University

関連論文

• 移動ロボットの走行安全性に基づく可変分解能速度マップ生成

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