Path evaluation for a mobile robot based on a risk of collision

An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.</p

Features of Mineral Dust Aerosols collected in the Free Troposhere over Dunhuang, China

金沢大学大学院自然科学研究科Chinese Academy of ScienceSiberian Branch of Russian Academy熊本大学名古屋大学Promoting Environmental Pesearch in Pan-Japan Sea Area : Young Researchers\u27 Network, Schedule: March 8-10,2006,Kanazawa Excel Hotel Tokyu, Japan, Organized by: Kanazawa University 21st-Century COE Program, Environmental Monitoring and Prediction of Long- & Short- Term Dynamics of Pan-Japan Sea Area ; IICRC(Ishikawa International Cooperation Research Centre), Sponsors : Japan Sea Research ; UNU-IAS(United Nations University Institute of Advanced Studies)+Ishikawa Prefecture Government ; City of Kanazaw

Morphological and Chemical Modification of Mineral Dust : Observational Insight into the Heterogeneous Uptake of Acidic Gases

金沢大学Chinese Academy of Science熊本県立大学名古屋大学Promoting Environmental Pesearch in Pan-Japan Sea Area : Young Researchers\u27 Network, Schedule: March 8-10,2006,Kanazawa Excel Hotel Tokyu, Japan, Organized by: Kanazawa University 21st-Century COE Program, Environmental Monitoring and Prediction of Long- & Short- Term Dynamics of Pan-Japan Sea Area ; IICRC(Ishikawa International Cooperation Research Centre), Sponsors : Japan Sea Research ; UNU-IAS(United Nations University Institute of Advanced Studies)+Ishikawa Prefecture Government ; City of Kanazaw