書誌事項
- タイトル別名
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- Variable-resolution Velocity Roadmap Generation Considering Safety Constraints for Mobile Robots
- イドウ ロボット ノ ソウコウ アンゼンセイ ニ モトズク カヘン ブンカイノウ ソクド マップ セイセイ
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This research develops a new roadmap method for autonomous mobile robots based on variable-resolution partitioning of continuous state space. Unlike conventional roadmaps which include position information only, the proposed roadmap also includes velocity information. Each node of the proposed roadmap consists of a fixed position and a range of velocity values, where velocity ranges are determined by variable-resolution partitioning of velocity space. An ordered pair of nodes are connected by a directed link if any combination of velocity values within the ranges represented by the nodes produce a trajectory satisfying a set of safety constraints. In this manner, an executable trajectory connecting arbitrary starting node and destination node is obtained by applying a graph search technique on the proposed roadmap. The proposed method is evaluated through simulations.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 133 (5), 1029-1040, 2013
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204608734080
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- NII論文ID
- 10031166986
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 024671542
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可