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

Eijiro Takeuchi, Naoki Sugawara, Kazunori Ohno, Satoshi Tadokor

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages629-633
Number of pages5
ISBN (Print)9781467372428
DOIs
Publication statusPublished - 2016 Feb 10
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: 2015 Dec 112015 Dec 13

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period15/12/1115/12/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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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