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Paper Abstract and Keywords
Presentation 2016-02-20 13:00
Path planning for autonomous mobile robot using spatiotemporal RRT considering ambiguity in motion of dynamic obstacles
Tsubasa Kurosaka, Tomoaki Nakamura, Masahide Kaneko (UEC)
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we proposed a novel path planning and speed control method for autonomous mobile robot under dynamic environment. The robot not only needs to avoid stationary objects such as walls and obstacles, but also needs to consider mobile objects such as human beings and pets. In order to avoid the collisions with mobile objects, the robot should be able to predict the motion of the objects, plan its moving path, and control its speed to move towards the destination while avoiding the mobile objects. Previous researches tried to solve this problem by using a spatiotemporal RRT method, which can spatiotemporally predict the motion of mobile objects and plan the path of the robot. However, dangerous paths that go through the places nearby the objects may be generated, as it does not consider the moving ambiguity of the mobile objects. Thus we proposed a method to plan paths which leave away from the dynamic obstacles by changing the local sampling probability. Simulation results show the usefulness of the proposed method.
Keyword (in Japanese) (See Japanese page) 
(in English) Autonomous Mobile Robot / Spatiotemporal / Speed Control / Path Planning / / / /  
Reference Info. ITE Tech. Rep., vol. 40, no. 5, ME2016-13, pp. 49-52, Feb. 2016.
Paper # ME2016-13 
Date of Issue 2016-02-13 (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.
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Conference Information
Committee ME  
Conference Date 2016-02-20 - 2016-02-20 
Place (in Japanese) (See Japanese page) 
Place (in English) Kanto Gakuin Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ME 
Conference Code 2016-02-ME 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Path planning for autonomous mobile robot using spatiotemporal RRT considering ambiguity in motion of dynamic obstacles 
Sub Title (in English)  
Keyword(1) Autonomous Mobile Robot  
Keyword(2) Spatiotemporal  
Keyword(3) Speed Control  
Keyword(4) Path Planning  
1st Author's Name Tsubasa Kurosaka  
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 2016-02-20 13:00:00 
Presentation Time 15 minutes 
Registration for ME 
Paper # ME2016-13 
Volume (vol) vol.40 
Number (no) no.5 
Page pp.49-52 
Date of Issue 2016-02-13 (ME) 

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