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

Eijiro Takeuchi, Naoki Sugawara, Kazunori Ohno, Satoshi Tadokor

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
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 112015 12月 13

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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