量子アニーリングを利用したロボットアームの経路計画

抄録

We propose a fast path planning method for a robot arm using quantum annealing. Path planning is one of the key issues in robotics, and with the increasing demand for service robots in recent years, fast path planning methods in dynamic environments are strongly required. In this paper, we submit the path planning problem into a quantum annealing-type quantum computer by converting the path planning problem into an integer optimization problem and finally to a quadratic unconstrained binary optimization problem (QUBO), with the aim of reducing the computation time. Numerical simulation shows that one path can be obtained for a 3-DOF robot arm in an average time of 80 [μs].