传感器观测区域补偿路径规划避免与未知障碍物碰撞

Naoki Sugawara, E. Takeuchi, K. Ohno, S. Tadokoro
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引用次数: 1

摘要

本文提出了一种具有有限视场传感器的移动机器人路径规划算法。提出的方法在规划阶段预测可观察区域,并最小化对不可观察区域的入侵。该方法的路径规划过程不仅包括到达目的地所需的动作,还包括根据传感器视角获取路径上障碍物信息所需的动作。利用该方法,机器人可以在碰撞前检测到障碍物。本文通过仿真实验和实际实验验证了该方法的有效性。
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Sensor observation area compensating path planning for avoiding collisions with unknown obstacles
In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.
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