移動ロボットの走行安全性に基づく可変分解能速度マップ生成

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/05/01

タイトル(英語): Variable-resolution Velocity Roadmap Generation Considering Safety Constraints for Mobile Robots

著者名: 項　警宇（名古屋大学工学研究科機械理工学専攻），田崎　勇一（名古屋大学工学研究科機械理工学専攻），鈴木　達也（名古屋大学工学研究科機械理工学専攻）

著者名(英語): Jingyu Xiang (Deputy of Mechanical Science & Engineering, Nagoya University), Yuichi Tazaki (Deputy of Mechanical Science & Engineering, Nagoya University), Tatsuya Suzuki (Deputy of Mechanical Science & Engineering, Nagoya University)

キーワード: ロードマップ，運動計画，可変分解能，移動ロボット　　Roadmap，Motion Planning，Variable-Resolution，Mobile Robot

要約(英語): This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of continuous state space. Unlike conventional roadmaps which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where velocity ranges are determined by variable-resolution partitioning of velocity space. An ordered pair of nodes are connected by a directed link if any combination of velocity values within the ranges represented by the nodes produce a trajectory satisfying a set of safety constraints. In this manner, an executable trajectory connecting arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.5 （2013） 特集：新たな産業への応用が進む無線通信技術

本誌掲載ページ: 1029-1040 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/5/133_1029/_article/-char/ja/