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ID 14661
本文ファイル
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別タイトル
Trajectory generation of moving robots using after deformation of artificial potential fields
著者
千種 和幸
金子 真
キーワード
mechatronics and robotics
moving robot
computer control
trajectory generation
artificial potential field
NDC
機械工学
内容記述
A trajectory generation method based on an artificial potential field approach may be useful for real-time motion planning of a moving robot, since it is effective and computationally much less expensive than other methods using global information on a task space. In the present paper, we argue that dynamic behavior of a generated trajectory and control of the direction of motion of the moving robot shold be taken into accout within the framework of the artificial potential field approach for practical use, and propose a new method using active deformation of the artificial potential field. The method can regulate movement time from an initial position to a goal, and velocity profile of the trajectory as well as the position and the direction of motion of the robot by changing the orientation and the shape of the artificial potential ellipse.
掲載誌名
日本機械学会論文集(C編)
62巻
597号
開始ページ
1905
終了ページ
1911
出版年月日
1996-05
出版者
日本機械学会
ISSN
0387-5024
言語
日本語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (c) 1996 日本機械学会
部局名
工学研究科