遠隔誘導時の走行軌道評価におけるリスク曲線遷移比較のための動的計画法による環境情報変化への対応

抄録

Generally, measurement error of environmental information causes the difference between operator's command path and traversal result, because autonomous functions must arrange a path for its safety traversal. For its evaluation, Safety Rate based on artificial potential field according to arrangement of obstacles had been proposed and introduced. However the traversal result can not be evaluated by simple comparison of with original command path because of the geometrical difference between the initial and the latest maps especially. In this paper, therefore, we discuss the above mentioned subject on the evaluation between the human command path and navigated result, Dynamic Programming is applied for Safety Rate curves of those paths.