確率に基づいた環境影響を考慮したロボット経路計画

抄録

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.