| Paper Abstract and Keywords |
| Presentation |
2018-02-24 14:30
Dynamic Path Planning for Autonomous Mobile Robot with Spatiotemporal RRT Using Limited Local Information under Crowded Condition
Kazuki Nakamura, Tomoaki Nakamura, Masahide Kaneko (UEC) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
A robot that can work with humans under the daily lives environment should have the function of autonomous movement. This paper proposes a novel path planning and speed control method for autonomous mobile robot under the crowded and dynamic environment. The spatiotemporal RRT and sampling inhibition model are employed to find a suitable path using only local information. The sampling inhibition zones are added along boundary lines of occlusion area in order to make it difficult to generate paths close to occlusion area. For the crowded condition, the probability to inhibit sampling is forced to become lower so that a path that avoids the stop is generated more easily. Simulation experiments show the useful results that the number of collisions in the proposed method is less than that in the existing method. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Path Planning / Dynamic Environment / Spatiotemporal RRT / Crowded Condition / / / / |
| Reference Info. |
ITE Tech. Rep., vol. 42, no. 6, ME2018-67, pp. 89-92, Feb. 2018. |
| Paper # |
ME2018-67 |
| Date of Issue |
2018-02-17 (ME) |
| ISSN |
Print edition: ISSN 1342-6893 Online edition: ISSN 2424-1970 |
| Notes on Review |
This article is a technical report without peer review, and its polished version will be published elsewhere. |
| Download PDF |
|
| Conference Information |
| Committee |
ME |
| Conference Date |
2018-02-24 - 2018-02-24 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Kanto Gakuin Univ. |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
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| Paper Information |
| Registration To |
ME |
| Conference Code |
2018-02-ME |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Dynamic Path Planning for Autonomous Mobile Robot with Spatiotemporal RRT Using Limited Local Information under Crowded Condition |
| Sub Title (in English) |
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| Keyword(1) |
Path Planning |
| Keyword(2) |
Dynamic Environment |
| Keyword(3) |
Spatiotemporal RRT |
| Keyword(4) |
Crowded Condition |
| Keyword(5) |
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| Keyword(6) |
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| 1st Author's Name |
Kazuki Nakamura |
| 1st Author's Affiliation |
The University of Electro-Communications (UEC) |
| 2nd Author's Name |
Tomoaki Nakamura |
| 2nd Author's Affiliation |
The University of Electro-Communications (UEC) |
| 3rd Author's Name |
Masahide Kaneko |
| 3rd Author's Affiliation |
The University of Electro-Communications (UEC) |
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| Speaker |
Author-1 |
| Date Time |
2018-02-24 14:30:00 |
| Presentation Time |
15 minutes |
| Registration for |
ME |
| Paper # |
ME2018-67 |
| Volume (vol) |
vol.42 |
| Number (no) |
no.6 |
| Page |
pp.89-92 |
| #Pages |
4 |
| Date of Issue |
2018-02-17 (ME) |