DocumentCode :
2107479
Title :
Real time motion planning for control of autonomous mobile robot
Author :
Fujisawa, Kae ; Hayakawa, Soichiro ; Aoki, Takeshi ; Suzuki, Tatsuya ; Okuma, Shigeru
Author_Institution :
Graduate Sch. of Electr. Eng., Nagoya Univ., Japan
Volume :
1
fYear :
1998
fDate :
13-17 Oct 1998
Firstpage :
606
Abstract :
We propose a method based on a real-time search for the optimal action of an autonomous mobile robot using an evolution strategy. By searching the optimal action for the facing situation in real time the robots need not suffer from the problem of categorization of the situations and problem of pre-definition of rules. The basic idea of the proposed real time search technique is to harmonize computational amount with a property of solution. In order to realize this requirement we adopt a two-stage evaluation technique. The proposed method also adopts the prediction and action watch dog systems. These function enable the robots to realize the real time search. The paper explains the proposed method and shows the feasibility through the experimental results using the real robot
Keywords :
fuzzy logic; mobile robots; neurocontrollers; path planning; search problems; velocity control; action watch dog system; autonomous mobile robot; evolution strategy; optimal action; prediction watch dog system; real time control; real time motion planning; real-time search; two-stage evaluation technique; Fuzzy logic; Mobile robots; Motion control; Motion planning; Optimal control; Robot control; Safety; Velocity control; Watches;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
Type :
conf
DOI :
10.1109/IROS.1998.724685
Filename :
724685
Link To Document :
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