Departmental Bulletin Paper 障害物のオクルージョン領域を考慮した自律移動ロボットの経路計画
DEVELOPMENT OF SAFE PATH PLANNING METHOD WITH OCCLUDED REGION OF OBSTACLES FOR MOBILE ROBOT

刈谷, 啓伸  ,  KARIYA, Hironobu

(56) 2015-03-24 , 法政大学大学院理工学・工学研究科
ISSN:2187-9923
NCID:AA12677220
Description
This paper describes the development of a potential-field-based path planning method that considers an occluded region induced by light detection and ranging (LIDAR). Herein, LIDAR-induced occluded region is considered because only the surface of obstacles that causes the existence of occluded regions is detected by LIDAR. Especially at a T-junction/blind corner, the occluded region may cause inappropriate path generation when the potential-field-based path planning method is employed. To overcome the negative effect of the occluded region, we propose an occluded-region aware potential-field-based path planning method. In the proposed method, we introduce a new occluded-region repulsive potential field. The validity of the proposed occluded-region aware potential-field-based path planning method is confirmed by both simulation and an actual experiment using a mobile robot at the indoor T-junction.
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http://repo.lib.hosei.ac.jp/bitstream/10114/10596/1/13R6104.pdf

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