Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

  • Authors:

  • Tae Hyon Kim;Kiyohiro Goto;Hiroki Igarashi;Kazuyuki Kon;Noritaka Sato;Fumitoshi Matsuno

  • Affiliations:

  • Department of Mechanical Engineering and Sciences, Graduate School of Engineering, Kyoto University, Kyoto, Japan 606-8501;Kokuyo Co., Osaka, Japan;Department of Mechanical Engineering and Sciences, Graduate School of Engineering, Kyoto University, Kyoto, Japan 606-8501;Department of Mechanical Engineering and Sciences, Graduate School of Engineering, Kyoto University, Kyoto, Japan 606-8501;Department of Electrical and Electronic Engineering, Nagoya Institute of Technology, Aichi, Japan;Department of Mechanical Engineering and Sciences, Graduate School of Engineering, Kyoto University, Kyoto, Japan 606-8501

  • Venue:
  • Artificial Life and Robotics
  • Year:
  • 2012

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Abstract

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.