A study on path planning for small mobile robot to move in forest area

K. Tanaka, Y. Okamoto, H. Ishii, D. Kuroiwa, H. Yokoyama, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara, A. Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We are developing an autonomous monitoring system using mobile robot in response to the demands of autonomous monitoring in forest area. The effective path planning is required for autonomous operation. The robot needs to locomote in the grassy area so as to move in a natural forest area, therefore the path route on grassy area have to be considered. The objective of this study was to develop a path planning method for small mobile robot to move in the forest. We focused on the cost used to generate the path and try to add grass vegetation into the cost map. The grass vegetation degree is effective to generate the optimal path, and the robot could move in forest by following the generated path.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2167-2172
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/TerritoryChina
CityMacau
Period17/12/517/12/8

Keywords

  • Filed Robot
  • Forestry
  • Mobile Robot
  • Path Planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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