Experimental Verification of Path Planning with SLAM

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2016/05/01

タイトル(英語): Experimental Verification of Path Planning with SLAM

著者名: Yudai Hasegawa (Yokohama National University), Yasutaka Fujimoto (Yokohama National University)

著者名(英語): Yudai Hasegawa (Yokohama National University), Yasutaka Fujimoto (Yokohama National University)

キーワード: SLAM，path planning，autonomous mobile robot，A※ algorithm，Dijkstra's algorithm
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要約(英語): Simultaneous localization and mapping (SLAM) is a very popular technique which is used to develop autonomous mobile robots. We have developed an autonomous mobile robot that can perform the SLAM based solely on information it gathers with a laser range finder. Path planning using the A※ algorithm is proposed to help the robot determine the shortest path while avoiding obstacles and minimizing travel distance and rotation. In addition to the standard eight adjacent cells present in conventional A※ algorithms, the proposed path planning method allows the eight cells that may be reached via the knight move to be defined as additional adjacent nodes. As a result, the achieved path is smoother than those obtained via more conventional methods, as has been experimentally verified.
●「A」の後の上付き記号を「※」に置き換えました。

本誌: IEEJ Journal of Industry Applications Vol.5 No.3 （2016）

本誌掲載ページ: 253-260 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/5/3/5_253/_article/-char/ja/