紀要論文 リアルタイム性に優れた 動的障害物を考慮した経路計画法の開発

高橋, 幹人

57pp.1 - 5 , 2016-03-24 , 法政大学大学院理工学・工学研究科
ISSN:21879923
内容記述
In the urban areas, safe navigation is one of the primary tasks of a mobile robot. To achieve a safe navigation, the mobile robot has to take into account of pedestrian and bicycles as a moving obstacle to avoid collision. In this paper, we describe a real-time safe path planning algorithm which includes walking pedestrian and moving bicycles. To distinguish pedestrian/bicycles and static obstacles, we fuse the information of LIDAR and the speedometer and gyro sensor to estimate surrounding situations of the mobile robot. To identify both static and moving obstacles, the polar coordinate based detection algorithm is proposed. In order to avoid collision to obstacles, the complex type AR model is applied to estimate obstacles position. The validity of the proposed system is confirmed by actual outdoor experiments. Key Words : LIDAR; path planning; prediction obstacle; real-time;
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http://repo.lib.hosei.ac.jp/bitstream/10114/12711/1/14R6102%e9%ab%98%e6%a9%8b%e5%b9%b9%e4%ba%ba.pdf

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