Robust path planning against pose errors for mobile robots in rough terrain

Yuki Doi, Yonghoon Ji, Yusuke Tamura, Yuki Ikeda, Atsushi Umemura, Yoshiharu Kaneshima, Hiroki Murakami, Atsushi Yamashita, Hajime Asama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We propose a novel path planning method considering pose errors for off-road mobile robots based on 3D terrain map information. Mobile robots navigating on rough terrain cannot follow a planned path perfectly because of uncertainties such as pose errors. In this work, we represent such pose errors as error ellipsoids to use on collision check with obstacles in a map. The error ellipsoids are estimated based on extended Kalman filter (EKF) that integrates motion errors and global positioning systems (GPS) observation errors. Simulation and experiment results show that the proposed method enables mobile robots to generate a robust path against pose errors in a large-scale rough terrain map.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
EditorsRüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
PublisherSpringer Verlag
Pages27-39
Number of pages13
ISBN (Print)9783030013691
DOIs
Publication statusPublished - 2019 Jan 1
Externally publishedYes
Event15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
Duration: 2018 Jun 112018 Jun 15

Publication series

NameAdvances in Intelligent Systems and Computing
Volume867
ISSN (Print)2194-5357

Conference

Conference15th International Conference on Intelligent Autonomous Systems, IAS 2018
CountryGermany
CityBaden-Baden
Period18/6/1118/6/15

Keywords

  • Error ellipsoid
  • Extended Kalman Filter
  • Path planning
  • Random sampling
  • Rough terrain

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • Cite this

    Doi, Y., Ji, Y., Tamura, Y., Ikeda, Y., Umemura, A., Kaneshima, Y., Murakami, H., Yamashita, A., & Asama, H. (2019). Robust path planning against pose errors for mobile robots in rough terrain. In R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (Eds.), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 27-39). (Advances in Intelligent Systems and Computing; Vol. 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_3