Exploring movable space using rhythmical active touch in disordered obstacle environment

Kenri Kodaka*, Tetsuya Ogata, Hirotaka Ohta, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE/SICE International Symposium on System Integration, SII 2011
ページ485-490
ページ数6
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
継続期間: 2011 12 202011 12 22

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

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