伸展型ソフトロボットのための屈曲角度一定の拘束を伴う経路計画手法に関する比較検討

抄録

Path planning method is very important for mobile robots. However, existing path planning methods are not applied for our soft growing robot because its bending angles are constant value due to heat welding. Then, we developed some path planning methods whose path is composed with constant bending angle. In this paper, we compared the performance of these path planning methods. The result showed that the method whose nodes are rearranged to satisfy bending angle constraint after the simple path is obtained is not suitable in the environment that requires the path involving many bendings. Then, we convinced that the method that is based on RRT algorithm enables us to obtain the path faster than the method that based on the selections of the robot motion.