Design of Action-value Function in Motion Planning for Autonomous Blimp Robots
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- Motoyama Keiko
- Graduate School of Engineering, Hokkaido University
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- Kawamura Hidenori
- Graduate School of Engineering, Hokkaido University
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- Yamamoto Masahito
- Graduate School of Engineering, Hokkaido University
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- Ohuchi Azuma
- Graduate School of Engineering, Hokkaido University
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説明
The final goal of this study is to achieve an autonomous indoor blimp robot. While blimp robots are attractive entities moving safely in three dimensional space, they are hard to control autonomously as they are subjected to strong inertial forces and air resistance, and have many nonlinear characteristics. As blimp robots are used not only in vast halls but also in complex buildings with obstacles such as pillars and walls, they need to plan suitable motion for avoiding them. Furthermore, robots need to conserve energy with restricted power supply because they are unable to carry heavy batteries. We have to design an action-value function for planning motion in a blimp robot, considering constraints imposed by these characteristics of an actual robot. In this paper, we designed an action-value function for motion planning based on the potential field method, and evaluated its effectiveness in a simulated environment.
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) 124 (10), 1930-1937, 2004
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
- 1390282679583347456
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- NII論文ID
- 10013640633
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 7105306
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
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