Path Planning for Sweeping Robot Considering Environmental Disturbance Based on Probability Model
Keita Nakamura, Haruna Nakazawa, Jun Ogawa, Keitaro Naruse · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
The sweeping robot plans path and moves along its prior path. However, the outdoor sweeping robot cannot move as expected. The uncertain movement of the robot is caused by some environmental disturbance such as unsmooth loose soil and wind. For this reason, we consider path planning considering robot uncertainty because of environmental disturbance. This study considers only wind blow as a disturbance. In this study, we define the objective function by investigating the relation between the environmental effect and the prior path based on transition probability model.