Sensor observation area compensating path planning for avoiding collisions with unknown obstacles

Naoki Sugawara, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

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

1 Citation (Scopus)

Abstract

In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages843-848
Number of pages6
ISBN (Electronic)9781479973965
DOIs
Publication statusPublished - 2014 Apr 20
Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
Duration: 2014 Dec 52014 Dec 10

Publication series

Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
CountryIndonesia
CityBali
Period14/12/514/12/10

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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