Sensor observation area compensating path planning for avoiding collisions with unknown obstacles

Naoki Sugawara; Eijiro Takeuchi; Kazunori Ohno; Satoshi Tadokoro

doi:10.1109/ROBIO.2014.7090437

Sensor observation area compensating path planning for avoiding collisions with unknown obstacles

Naoki Sugawara, Eijiro Takeuchi, Kazunori Ohno, Satoshi Tadokoro

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

1 Citation (Scopus)

Abstract

In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	843-848
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090437
Publication status	Published - 2014 Apr 20
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 2014 Dec 5 → 2014 Dec 10

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

Other	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	14/12/5 → 14/12/10

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROBIO.2014.7090437

Cite this

Sugawara, N., Takeuchi, E., Ohno, K., & Tadokoro, S. (2014). Sensor observation area compensating path planning for avoiding collisions with unknown obstacles. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 843-848). [7090437] (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090437

Sensor observation area compensating path planning for avoiding collisions with unknown obstacles. / Sugawara, Naoki; Takeuchi, Eijiro; Ohno, Kazunori et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 843-848 7090437 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

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

Sugawara, N, Takeuchi, E, Ohno, K & Tadokoro, S 2014, Sensor observation area compensating path planning for avoiding collisions with unknown obstacles. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090437, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 843-848, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 14/12/5. https://doi.org/10.1109/ROBIO.2014.7090437

Sugawara N, Takeuchi E, Ohno K , Tadokoro S. Sensor observation area compensating path planning for avoiding collisions with unknown obstacles. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 843-848. 7090437. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090437

Sugawara, Naoki ; Takeuchi, Eijiro ; Ohno, Kazunori et al. / Sensor observation area compensating path planning for avoiding collisions with unknown obstacles. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 843-848 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

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AB - In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.

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Sensor observation area compensating path planning for avoiding collisions with unknown obstacles

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