SPM法による経路計画と移動ロボットシステムへの応用

抄録

An autonomous robot must have a real-time path plan satisfying environmental changes and unknown situations. Obstacle avoidance is one of the problems in the path plan. With respect to studies concerning obstacle avoidance, a potential method based on vector analysis and a novel technique based on graph theory have been proposed.
A sensory point moving method is a technique based on a parallel algorithm. This technique has involved a problem on the path planning in the working environment containing the blind alley obstacle.
In this paper, we propose an improvement on renewal rule of a sensory point and path plan based on vector analysis. We developed a mobile robots system using a bird's-eye view. Through the path planning simulation and the application of this technique to a mobile robots system, the effectiveness of the present technique is confirmed.