人工ポテンシャル場の変形を用いた移動ロボットの軌道生成法

日本機械学会論文集(C編) Volume 62 Issue 597 Page 1905-1911 published_at 1996-05
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Title ( jpn )
人工ポテンシャル場の変形を用いた移動ロボットの軌道生成法
Title ( eng )
Trajectory generation of moving robots using after deformation of artificial potential fields
Creator
Chigusa Kazuyuki
Kaneko Makoto
Source Title
日本機械学会論文集(C編)
Volume 62
Issue 597
Start Page 1905
End Page 1911
Keywords
mechatronics and robotics
moving robot
computer control
trajectory generation
artificial potential field
Descriptions
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.
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
日本機械学会
Date of Issued 1996-05
Rights
Copyright (c) 1996 日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024