Robust path planning against pose errors for mobile robots in rough terrain

Yuki Doi; Yonghoon Ji; Yusuke Tamura; Yuki Ikeda; Atsushi Umemura; Yoshiharu Kaneshima; Hiroki Murakami; Atsushi Yamashita; Hajime Asama

doi:10.1007/978-3-030-01370-7_3

Robust path planning against pose errors for mobile robots in rough terrain

Yuki Doi, Yonghoon Ji, Yusuke Tamura, Yuki Ikeda, Atsushi Umemura, Yoshiharu Kaneshima, Hiroki Murakami, Atsushi Yamashita, Hajime Asama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

We propose a novel path planning method considering pose errors for off-road mobile robots based on 3D terrain map information. Mobile robots navigating on rough terrain cannot follow a planned path perfectly because of uncertainties such as pose errors. In this work, we represent such pose errors as error ellipsoids to use on collision check with obstacles in a map. The error ellipsoids are estimated based on extended Kalman filter (EKF) that integrates motion errors and global positioning systems (GPS) observation errors. Simulation and experiment results show that the proposed method enables mobile robots to generate a robust path against pose errors in a large-scale rough terrain map.

Original language	English
Title of host publication	Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
Editors	Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
Publisher	Springer Verlag
Pages	27-39
Number of pages	13
ISBN (Print)	9783030013691
DOIs	https://doi.org/10.1007/978-3-030-01370-7_3
Publication status	Published - 2019
Externally published	Yes
Event	15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany Duration: 2018 Jun 11 → 2018 Jun 15

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	867
ISSN (Print)	2194-5357

Conference

Conference	15th International Conference on Intelligent Autonomous Systems, IAS 2018
Country/Territory	Germany
City	Baden-Baden
Period	18/6/11 → 18/6/15

Keywords

Error ellipsoid
Extended Kalman Filter
Path planning
Random sampling
Rough terrain

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science(all)

Access to Document

10.1007/978-3-030-01370-7_3

Cite this

Doi, Y., Ji, Y., Tamura, Y., Ikeda, Y., Umemura, A., Kaneshima, Y., Murakami, H., Yamashita, A., & Asama, H. (2019). Robust path planning against pose errors for mobile robots in rough terrain. In R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (Eds.), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 27-39). (Advances in Intelligent Systems and Computing; Vol. 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_3

Robust path planning against pose errors for mobile robots in rough terrain. / Doi, Yuki; Ji, Yonghoon; Tamura, Yusuke et al.

Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. ed. / Rüdiger Dillmann; Emanuele Menegatti; Stefano Ghidoni; Marcus Strand. Springer Verlag, 2019. p. 27-39 (Advances in Intelligent Systems and Computing; Vol. 867).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Doi, Y, Ji, Y, Tamura, Y, Ikeda, Y, Umemura, A, Kaneshima, Y, Murakami, H, Yamashita, A & Asama, H 2019, Robust path planning against pose errors for mobile robots in rough terrain. in R Dillmann, E Menegatti, S Ghidoni & M Strand (eds), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Advances in Intelligent Systems and Computing, vol. 867, Springer Verlag, pp. 27-39, 15th International Conference on Intelligent Autonomous Systems, IAS 2018, Baden-Baden, Germany, 18/6/11. https://doi.org/10.1007/978-3-030-01370-7_3

Doi Y, Ji Y, Tamura Y, Ikeda Y, Umemura A, Kaneshima Y et al. Robust path planning against pose errors for mobile robots in rough terrain. In Dillmann R, Menegatti E, Ghidoni S, Strand M, editors, Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Springer Verlag. 2019. p. 27-39. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-01370-7_3

Doi, Yuki ; Ji, Yonghoon ; Tamura, Yusuke et al. / Robust path planning against pose errors for mobile robots in rough terrain. Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. editor / Rüdiger Dillmann ; Emanuele Menegatti ; Stefano Ghidoni ; Marcus Strand. Springer Verlag, 2019. pp. 27-39 (Advances in Intelligent Systems and Computing).

@inproceedings{52bcb90f41b741fb8ec6ac9db0ce79d0,

title = "Robust path planning against pose errors for mobile robots in rough terrain",

abstract = "We propose a novel path planning method considering pose errors for off-road mobile robots based on 3D terrain map information. Mobile robots navigating on rough terrain cannot follow a planned path perfectly because of uncertainties such as pose errors. In this work, we represent such pose errors as error ellipsoids to use on collision check with obstacles in a map. The error ellipsoids are estimated based on extended Kalman filter (EKF) that integrates motion errors and global positioning systems (GPS) observation errors. Simulation and experiment results show that the proposed method enables mobile robots to generate a robust path against pose errors in a large-scale rough terrain map.",

keywords = "Error ellipsoid, Extended Kalman Filter, Path planning, Random sampling, Rough terrain",

author = "Yuki Doi and Yonghoon Ji and Yusuke Tamura and Yuki Ikeda and Atsushi Umemura and Yoshiharu Kaneshima and Hiroki Murakami and Atsushi Yamashita and Hajime Asama",

note = "Funding Information: Acknowledgement. This work was in part funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 15th International Conference on Intelligent Autonomous Systems, IAS 2018 ; Conference date: 11-06-2018 Through 15-06-2018",

year = "2019",

doi = "10.1007/978-3-030-01370-7_3",

language = "English",

isbn = "9783030013691",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer Verlag",

pages = "27--39",

editor = "R{\"u}diger Dillmann and Emanuele Menegatti and Stefano Ghidoni and Marcus Strand",

booktitle = "Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15",

}

TY - GEN

T1 - Robust path planning against pose errors for mobile robots in rough terrain

AU - Doi, Yuki

AU - Ji, Yonghoon

AU - Tamura, Yusuke

AU - Ikeda, Yuki

AU - Umemura, Atsushi

AU - Kaneshima, Yoshiharu

AU - Murakami, Hiroki

AU - Yamashita, Atsushi

AU - Asama, Hajime

N1 - Funding Information: Acknowledgement. This work was in part funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Publisher Copyright: © 2019, Springer Nature Switzerland AG.

PY - 2019

Y1 - 2019

N2 - We propose a novel path planning method considering pose errors for off-road mobile robots based on 3D terrain map information. Mobile robots navigating on rough terrain cannot follow a planned path perfectly because of uncertainties such as pose errors. In this work, we represent such pose errors as error ellipsoids to use on collision check with obstacles in a map. The error ellipsoids are estimated based on extended Kalman filter (EKF) that integrates motion errors and global positioning systems (GPS) observation errors. Simulation and experiment results show that the proposed method enables mobile robots to generate a robust path against pose errors in a large-scale rough terrain map.

AB - We propose a novel path planning method considering pose errors for off-road mobile robots based on 3D terrain map information. Mobile robots navigating on rough terrain cannot follow a planned path perfectly because of uncertainties such as pose errors. In this work, we represent such pose errors as error ellipsoids to use on collision check with obstacles in a map. The error ellipsoids are estimated based on extended Kalman filter (EKF) that integrates motion errors and global positioning systems (GPS) observation errors. Simulation and experiment results show that the proposed method enables mobile robots to generate a robust path against pose errors in a large-scale rough terrain map.

KW - Error ellipsoid

KW - Extended Kalman Filter

KW - Path planning

KW - Random sampling

KW - Rough terrain

UR - http://www.scopus.com/inward/record.url?scp=85059904869&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85059904869&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-01370-7_3

DO - 10.1007/978-3-030-01370-7_3

M3 - Conference contribution

AN - SCOPUS:85059904869

SN - 9783030013691

T3 - Advances in Intelligent Systems and Computing

SP - 27

EP - 39

BT - Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15

A2 - Dillmann, Rüdiger

A2 - Menegatti, Emanuele

A2 - Ghidoni, Stefano

A2 - Strand, Marcus

PB - Springer Verlag

T2 - 15th International Conference on Intelligent Autonomous Systems, IAS 2018

Y2 - 11 June 2018 through 15 June 2018

ER -

Robust path planning against pose errors for mobile robots in rough terrain

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this