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Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

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Abstract

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering and Sciences, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto, 606-8501, Japan

    Tae Hyon Kim, Hiroki Igarashi, Kazuyuki Kon & Fumitoshi Matsuno

  2. Kokuyo Co., Osaka, Japan

    Kiyohiro Goto

  3. Department of Electrical and Electronic Engineering, Nagoya Institute of Technology, Aichi, Japan

    Noritaka Sato

Authors
  1. Tae Hyon Kim
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  2. Kiyohiro Goto
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  3. Hiroki Igarashi
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  4. Kazuyuki Kon
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  5. Noritaka Sato
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  6. Fumitoshi Matsuno
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Corresponding author

Correspondence to Tae Hyon Kim.

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Kim, T.H., Goto, K., Igarashi, H. et al. Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment. Artif Life Robotics 16, 514–518 (2012). https://doi.org/10.1007/s10015-011-0977-x

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  • DOI: https://doi.org/10.1007/s10015-011-0977-x

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