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

未来科学技術共同研究センター

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	2015 IEEE/SICE International Symposium on System Integration, SII 2015
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	629-633
ページ数	5
ISBN（印刷版）	9781467372428
DOI	https://doi.org/10.1109/SII.2015.7405052
出版ステータス	Published - 2016 2月 10
イベント	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan 継続期間: 2015 12月 11 → 2015 12月 13

Other

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

ASJC Scopus subject areas

人工知能
制御およびシステム工学

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10.1109/SII.2015.7405052

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引用スタイル

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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title = "Path planning with observation prediction to avoid collisions with unknown dynamic obstacles",

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.",

author = "Eijiro Takeuchi and Naoki Sugawara and Kazunori Ohno and Satoshi Tadokor",

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booktitle = "2015 IEEE/SICE International Symposium on System Integration, SII 2015",

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AU - Sugawara, Naoki

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N2 - 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.

AB - 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.

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BT - 2015 IEEE/SICE International Symposium on System Integration, SII 2015

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

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