Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
The sweeping robot plans path and moves along its prior path. However, the outdoor sweeping robot cannot move as expected. The uncertain movement of the robot is caused by some environmental disturbance such as unsmooth loose soil and wind. For this reason, we consider path planning considering robot uncertainty because of environmental disturbance. This study considers only wind blow as a disturbance. In this study, we define the objective function by investigating the relation between the environmental effect and the prior path based on transition probability model.
