Path Planning Algorithm-How to Evaluate the Difficulties of Moving in Various Environment

概要

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Intensively changed environment will greatly influence the mobile robot movement. In this research, we propose the method how to evaluate the difficulties of moving while the mobile robot travel in that condition. The robot will move in unknown environment to find the best path using geographical information analysis. Image inputted by camera are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the target goal searching for the path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. The experiment results, confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully are presented.
公益社団法人計測自動制御学会の論文