Exploring movable space using rhythmical active touch in disordered obstacle environment

Kenri Kodaka, Tetsuya Ogata, Hirotaka Ohta, Shigeki Sugano

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

Abstract

We propose a novel navigation system for adaptively exploring an obstacle space using diverse ways of touching an object. Conventional navigation models are typically based on the avoidance of obstacles, i.e., avoiding collision. However, actual disordered space may be full of various kinds of obstacles. To reach a destination in such a space, a robot requires an active approach for avoiding a deadlock with obstacles or changing the obstacle configuration to find an open space using diverse ways of touching an object. We solved this problem by generating locally diverse moving patterns by using an action model with rhythmical oscillation in addition to a localization model using a particle filter. The proposed model was demonstrated to be effective through an experiment where a robot navigated to a destination behind partially movable obstacles using rhythmical active touch.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages485-490
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Conference

Conference2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Exploring movable space using rhythmical active touch in disordered obstacle environment'. Together they form a unique fingerprint.

  • Cite this

    Kodaka, K., Ogata, T., Ohta, H., & Sugano, S. (2011). Exploring movable space using rhythmical active touch in disordered obstacle environment. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 485-490). [6147497] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147497