著者

前山 祥一 大矢 晃久 油田 信一

出版者

日本認知科学会

雑誌

認知科学 (ISSN:13417924)

巻号頁・発行日

vol.5, no.3, pp.3_69-3_76, 1998-09-01 (Released:2008-10-03)

参考文献数

11

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We introduce our researches about mobile robot navigation in real world. We have about 30 self-contained and autonomous mobile robots as experimental research platforms who are named “Yamabico”. The objective of our research is to realize a mobile robot, which can robustly navigate itself a long distance autonomously in a real environment. For navigation, a robot must recognize work space and have enough knowledge about environment. Since the information processing, sensors and actuators of the robot are very different from ones of human, the suitable representation of knowledge or the recognition of environment for the robot are also quite different. In this paper, we report some experiments on the navigation of autonomous robot being done in Intelligent Robot Laboratory of University of Tsukuba.

著者

本仲 君子 渡辺 桂吾 前山 祥一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.81, no.825, pp.14-00631-14-00631, 2015 (Released:2015-05-25)

参考文献数

11

被引用文献数

1 2

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Recently, it is expected to develop an autonomous robot working in a living environment. Motion planning is very important for an autonomous mobile robot, but kinematic constraints and dynamic constraints are generally solved separately in conventional motion planning. In this research, a simpler way of deciding the control input for an autonomous mobile robot, which is described by a highly nonlinear model in a multi-dimensional space, is proposed by solving kinematic constraints and dynamic constraints simultaneously, under the kinodynamic motion planning based on a harmonic potential field (HPF). In this paper, a quadrotor that is very attractive as an aerial robot due to its high maneuverability, is assumed to be a controlled object, and it is aimed at guiding the quadrotor to an arbitrary target point while avoiding obstacles. Then, three types of controllers for kinodynamic motion planning based on an HPF, which were developed for point mass control, are extended to be applied to the quadrotor. The extended controllers are compared each other in trajectory, amplitude of attitude, and arrival time through some flight simulations. Moreover, multiple gains included in the proposed controllers are optimized automatically by using genetic algorithm (GA), in order to realize highly accurate control. Flight simulation in an untrained environment, which is different from the environment that the gains were selected by GA, is also conducted, and it is confirmed that the quadrotor can move onto the target point with the same gains while avoiding obstacles.

著者

前山 祥一

巻号頁・発行日

1998

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本研究は、自律移動ロボットの長距離屋外ナビゲーションに関する研究である。ここでいう「ナビゲーション」とは、与えられた経路情報に従ってスタート地点からゴール地点まで到達することを言う。ナビゲーションを実現 ...