TY - GEN
T1 - Path planning with observation prediction to avoid collisions with unknown dynamic obstacles
AU - Takeuchi, Eijiro
AU - Sugawara, Naoki
AU - Ohno, Kazunori
AU - Tadokor, Satoshi
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/2/10
Y1 - 2016/2/10
N2 - This paper discusses planning problem for a mobile robot with range sensors that detect obstacles around the robot in unknown dynamic environments. In unknown environments, a mobile robot needs to detect obstacles and finds path without collision to go to destination. Around obstacle information are required by motion and mortion are required to collect information. Therefore, the planning problem with observation need to find path to destination and collect information simultaneously. In this paper, path planning problem for a mobile robot with limited field of view sensors in unknown dynamic environments is discussed. The simulation experiments illustrates the planning method proposed in this paper finds motion to look left-and-right motion before across crossing traffic road.
AB - This paper discusses planning problem for a mobile robot with range sensors that detect obstacles around the robot in unknown dynamic environments. In unknown environments, a mobile robot needs to detect obstacles and finds path without collision to go to destination. Around obstacle information are required by motion and mortion are required to collect information. Therefore, the planning problem with observation need to find path to destination and collect information simultaneously. In this paper, path planning problem for a mobile robot with limited field of view sensors in unknown dynamic environments is discussed. The simulation experiments illustrates the planning method proposed in this paper finds motion to look left-and-right motion before across crossing traffic road.
UR - http://www.scopus.com/inward/record.url?scp=84963747835&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84963747835&partnerID=8YFLogxK
U2 - 10.1109/SII.2015.7405052
DO - 10.1109/SII.2015.7405052
M3 - Conference contribution
AN - SCOPUS:84963747835
T3 - 2015 IEEE/SICE International Symposium on System Integration, SII 2015
SP - 629
EP - 633
BT - 2015 IEEE/SICE International Symposium on System Integration, SII 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Y2 - 11 December 2015 through 13 December 2015
ER -