著者

島倉 諭 項 警宇 稲垣 伸吉 鈴木 達也

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."2A1-G05(1)"-"2A1-G05(4)", 2009-05-25

---

Recently, the demand for mobile robot which works in a complex environment is growing in many fields. Consideration of the statistical uncertainty of the observation and the locomotion is an important issue to be addressed in the control of mobile robot. This paper presents a new planning strategy which combines a Particle control and Potential method. The proposed scheme enables the robot to plan the path online considering the statistical uncertainty of the observation and the locomotion. Then, some simulation results are shown to verify the usefulness of the proposed method from viewpoint of a robustness against uncertainty.