動的環境における複数案内ロボットの作業分担決定と経路計画

学位の種別: 課程博士審査委員会委員 : (主査)東京大学教授 淺間 一, 東京大学教授 太田 順, 東京大学准教授 山下 淳, 東京大学准教授 大竹 豊, 東京電機大学教授 鈴木 剛University of Tokyo(東京大学

Efficient robotic path planning algorithm based on artificial potential field

Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG