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
收藏
页码：514 / 518
页数：5
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