TY - GEN
T1 - Path evaluation for a mobile robot based on a risk of collision
AU - Irie, M.
AU - Nagatani, K.
AU - Gofuku, A.
N1 - Publisher Copyright:
© 2003 IEEE.
PY - 2003
Y1 - 2003
N2 - An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.
AB - An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84942510555&partnerID=8YFLogxK
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U2 - 10.1109/CIRA.2003.1222137
DO - 10.1109/CIRA.2003.1222137
M3 - Conference contribution
AN - SCOPUS:84942510555
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 485
EP - 490
BT - Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Y2 - 16 July 2003 through 20 July 2003
ER -