Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

被引：9

作者：

Kim, Tae Hyon ^{[1
]}

Goto, Kiyohiro ^{[2
]}

Igarashi, Hiroki ^{[1
]}

Kon, Kazuyuki ^{[1
]}

Sato, Noritaka ^{[3
]}

Matsuno, Fumitoshi ^{[1
]}

机构：

[1] Kyoto Univ, Grad Sch Engn, Dept Mech Engn & Sci, Sakyo Ku, Kyoto 6068501, Japan

[2] Kokuyo Co, Osaka, Japan

[3] Nagoya Inst Technol, Dept Elect & Elect Engn, Nagoya, Aichi, Japan

来源：

ARTIFICIAL LIFE AND ROBOTICS | 2012年 / 16卷 / 04期

关键词：

Autonomous robot; Trajectory generation; Localization;

D O I：

10.1007/s10015-011-0977-x

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.

引用

页码：514 / 518

页数：5

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