2012 Fiscal Year Final Research Report
Active measurement planning for keeping safety of autonomous functions
| Project/Area Number |
23700228
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tohoku University |
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Principal Investigator |
TAKEUCHI Eijiro 東北大学, 災害科学国際研究所, 助教 (00509680)
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| Project Period (FY) |
2011 – 2012
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| Keywords | モーションプランニング |
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| Research Abstract |
This project is research of motion planning that compensates sensor sight with robot motion in unknown environments. The target sensor of this research is swinging 3D range scanner. The proposed planning method searches best trajectory and sensor angle to find obstacle and localize the robot position. The method achieves 1.5 to 2 times running speed with safety compare with constant cycle scan method.
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