生活支援ロボットHSRの狭路走行に向けた経路最適化手法

DOI Web Site 参考文献9件

書誌事項

タイトル別名
  • Navigation in Narrow Spaces for Human Support Robot
  • セイカツ シエン ロボット HSR ノ キョウロ ソウコウ ニ ムケタ ケイロ サイテキ カ シュホウ

この論文をさがす

説明

Human Support Robot (HSR), a safe and lightweight assistant robot with large range of tasks, has been developed to support disabled or aged people and their caregivers. In order for HSR to move around one's house autonomously, its path planning process needs to generate a path which can go through narrow spaces without collision with surroundings. However, determining such paths is a difficult task for wheeled robots with non-holonomic constraints like HSR because the path planning process needs to carefully detect collisions considering configurations of the robot while keeping smoothness of the path. To address this issue, we proposed a path planning method which is based on path optimization using three imaginary springs. With the proposed methods, collision-free smooth paths going through narrow spaces were generated in real time, and the HSR prototype was able to move through narrow spaces smoothly.

収録刊行物

参考文献 (9)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ