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

K. Tanaka, Y. Okamoto, Hiroyuki Ishii, D. Kuroiwa, H. Yokoyama, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara, Atsuo 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
    Volume2018-January
    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

    Other

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

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    Keywords

    • Filed Robot
    • Forestry
    • Mobile Robot
    • Path Planning

    ASJC Scopus subject areas

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

    Cite this

    Tanaka, K., Okamoto, Y., Ishii, H., Kuroiwa, D., Yokoyama, H., Inoue, S., Shi, Q., Okabayashi, S., Sugahara, Y., & Takanishi, A. (2018). A study on path planning for small mobile robot to move in forest area. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2167-2172). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324740