Path planning with observation prediction to avoid collisions with unknown dynamic obstacles

Eijiro Takeuchi; Naoki Sugawara; Kazunori Ohno; Satoshi Tadokor

doi:10.1109/SII.2015.7405052

Path planning with observation prediction to avoid collisions with unknown dynamic obstacles

Eijiro Takeuchi, Naoki Sugawara, Kazunori Ohno, Satoshi Tadokor

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper discusses planning problem for a mobile robot with range sensors that detect obstacles around the robot in unknown dynamic environments. In unknown environments, a mobile robot needs to detect obstacles and finds path without collision to go to destination. Around obstacle information are required by motion and mortion are required to collect information. Therefore, the planning problem with observation need to find path to destination and collect information simultaneously. In this paper, path planning problem for a mobile robot with limited field of view sensors in unknown dynamic environments is discussed. The simulation experiments illustrates the planning method proposed in this paper finds motion to look left-and-right motion before across crossing traffic road.

Original language	English
Title of host publication	2015 IEEE/SICE International Symposium on System Integration, SII 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	629-633
Number of pages	5
ISBN (Print)	9781467372428
DOIs	https://doi.org/10.1109/SII.2015.7405052
Publication status	Published - 2016 Feb 10
Event	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan Duration: 2015 Dec 11 → 2015 Dec 13

Other

Other	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Country	Japan
City	Nagoya
Period	15/12/11 → 15/12/13

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/SII.2015.7405052

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Cite this

Takeuchi, E., Sugawara, N., Ohno, K., & Tadokor, S. (2016). Path planning with observation prediction to avoid collisions with unknown dynamic obstacles. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 629-633). [7405052] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7405052

Path planning with observation prediction to avoid collisions with unknown dynamic obstacles. / Takeuchi, Eijiro; Sugawara, Naoki; Ohno, Kazunori; Tadokor, Satoshi.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 629-633 7405052.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takeuchi, E, Sugawara, N, Ohno, K & Tadokor, S 2016, Path planning with observation prediction to avoid collisions with unknown dynamic obstacles. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7405052, Institute of Electrical and Electronics Engineers Inc., pp. 629-633, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 15/12/11. https://doi.org/10.1109/SII.2015.7405052

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