抄録
In this paper, we have investigated for factors of speeding-up of sensor based motion planning for 3-DOF manipulator. An autonomous robot requires a function for moving based on sensor information without collision with an obstacle. We searched for factors of time to generate a path of CPFS (Closest Point First Search) algorithm based on the Bug2 algorithm proposed by Lumelsky and extended Bug2 algorithm. We tested using the 3-DOF manipulator covered proximity sensor with these methods for verification. Using computer simulation, we experimented in the same environment and compared with the experimental result. As a result, reducing searched configuration is important to generate a path quickly.
