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
    Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto
    Duration: 2011 Dec 202011 Dec 22

    Other

    Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
    CityKyoto
    Period11/12/2011/12/22

    Fingerprint

    Robots
    Navigation systems
    Navigation
    Experiments

    ASJC Scopus subject areas

    • Computer Networks and Communications
    • Control and Systems Engineering

    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] https://doi.org/10.1109/SII.2011.6147497

    Exploring movable space using rhythmical active touch in disordered obstacle environment. / Kodaka, Kenri; Ogata, Tetsuya; Ohta, Hirotaka; Sugano, Shigeki.

    2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 485-490 6147497.

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

    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., 6147497, pp. 485-490, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, 11/12/20. https://doi.org/10.1109/SII.2011.6147497
    Kodaka K, Ogata T, Ohta H, Sugano S. Exploring movable space using rhythmical active touch in disordered obstacle environment. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 485-490. 6147497 https://doi.org/10.1109/SII.2011.6147497
    Kodaka, Kenri ; Ogata, Tetsuya ; Ohta, Hirotaka ; Sugano, Shigeki. / Exploring movable space using rhythmical active touch in disordered obstacle environment. 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. pp. 485-490
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