1A1-D13 3-D measurement planning for obstacle detection
Eijiro Takeuchi, Kazunori Ohno, Satoshı Tadokoro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
To realise safety autonomous navigation, it is necessary to detect obstacles in sweeping region of a robot. This paper describes observation motion planning algorithm for obstacle detection using Laser Range Finder with one servo motor. The motion planning algorithm finds sequence of observing unobserved points to achieve faster safety speed of the robot. In this paper, unmeasured points update process and observation plannning are described.