On-Line Path-Planning Algorithm for Nonholonomic Mobile Robot in an Uncertain 3-D World. Evaluation of Algorithm by Practical Running and Simulation.
Hiroshi AN, Nobuhiro MINEMORI, Koichi SUENOBU, Tomohiko HORIGUCHI, Eiji Mori · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1996
In the present research we aim to verify a newly developed on-line path-planning algorithm that directs a non-holonomic robot to a goal while avoiding obstacles in an uncertain 3-d world easily and reliably. The developed robot runs on two wheels and is equipped with a visual sensor (CCD camera) with a restricted view field, Please clarify, a gyrocompass and a means of measuring and recording wheel running distance to recognize its position. Furthermore, as this robot is controlled by a parallel processor called a transputer, it can perform four types of distributed processing simultaneously: autonomous position inference, image measurement processing, running control, and running algorithm monitoring. In experiments, the robot reached its goal without coming into contact with any obstacles. As a result, it was verified that this developed sensor-based path-planning algorithm was effective for this nonholonomic mobile robot.