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RRTを用いた動的環境における移動ロボットのリアルタイム経路計画
http://hdl.handle.net/10458/4744
http://hdl.handle.net/10458/47447c17f95d-c3af-4526-aa1d-4404fb65ff4c
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
engineering251-256.pdf (748.1 kB)
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| Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2014-01-06 | |||||
| タイトル | ||||||
| タイトル | RRTを用いた動的環境における移動ロボットのリアルタイム経路計画 | |||||
| 言語 | ja | |||||
| タイトル | ||||||
| タイトル | An Extension of RRT for Real-Time Path Re-planning of Mobile Robots in Dynamic Environment | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | RRT, RRT*, eRRT, dRRT, CT-space | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | departmental bulletin paper | |||||
| その他（別言語等）のタイトル | ||||||
| その他のタイトル | RRT オ モチイタ ドウテキ カンキョウ ニオケル イドウ ロボット ノ リアル タイム ケイロ ケイカク | |||||
| 言語 | ja-Kana | |||||
| 著者 |
松川, 翔太
× 松川, 翔太× 横道, 政裕× 甲斐, 崇浩× Matsukawa, Shota× Kai, Takahiro |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Recently, the application areas of mobile robots have been extended broadly, for instance, from home to planets. In such cases, it is important to ensure both safety and optimality for the movement of the robot. One approach to this problem is offline trajectory planning and reactive obstacle avoidance. The trajectory (path) planning plooblem has been studied by many researchers and several algorithms have been proposed. In the case of high-dimensional configuration space, it has been shown that the sampling-based algorithms such as RRT (Rapidly-Exploring Random Tree) are effective. The original algorithm has been extended such that the cost is taken into account (RRT*) or that the re-planning is done effectively (such as eRRT, dRRT, and MPRRT). However, many of existing studies about re-planning consider only the cases that the environment is static, or that the initial state of the robot does not change. Thus, they can not be applied to the environments where the obstacles is moving or the dynamics of the robot has uncertainties. In this article, the authors extend the existing RRT and its variants to be able to manage two cases; the continuous change of the environment and the change of the initial configuration of the robot. The effectiveness of the proposed approach is examined numerical simulations. | |||||
| 言語 | en | |||||
| 書誌情報 |
ja : 宮崎大学工学部紀要 en : Memoirs of Faculty of Engineering, University of Miyazaki 巻 42, p. 251-256, 発行日 2013-08-30 |
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| 出版者 | ||||||
| 出版者 | 宮崎大学工学部 | |||||
| 言語 | ja | |||||
| 出版者 | ||||||
| 出版者 | Faculty of Engineering, University of Miyazaki | |||||
| 言語 | en | |||||
| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 05404924 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA00732558 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
