書誌事項
- タイトル別名
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- Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots.
- チズ ゴサ ニ ドウテキ ニ テキオウ スル イドウ ロボット ノ ソウインサギョウ ケイカク
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説明
In this paper, we propose an algorithm of real time path adaptation for sweeping tasks by autonomous mobile robot. Sweeping means a motion that a robot covers a 2-dimensional area. A robot driven by model based path planner has to arrange its path according to real contour in real time because its map can have errors. We apply reactive motions to traditional path planning method. The proposed algorithm interprets global constraints for a sweeping task into local constraints which describe relationship between elements of a map and curves which consists of a sweeping path. An autonomous robot can obtain local conditions according to the algorithm and adjusts its path by reactive motions without heavy calculation. We verify the efficiency of the algorithm by simulations and an experiment with actual autonomous mobile robot.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (5), 677-684, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702007424
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- NII論文ID
- 10007550073
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4800769
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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サーチ
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
