障害物境界のトポロジーに基づく未知空間における移動ロボットの経路計画

抄録

The problem of path planning is studied for the case of a mobile robot moving in the environment filled with obstacles whose shapes and positions are not known. The robot is assumed to know its own and the target's positions and to have a sensory feedback which provides it with local information on its environment. An aggressive algorithm is proposed using the space topology and convergence and target reachability of the algorithm are explained. Advantages of the algorithm are shown as compared with a number of existing algorithms. Finally, simulation results show effectiveness of the proposed algorithm.