移動ロボットの目標方向センサによるセンサベースト・ナビゲーション Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor
This paper develops a sensor-based navigation system using a target direction sensor for mobile robots. The importance of target direction in navigation problem for mobile robots is emphasized. Then, The convergence property for sensor-based navigation problem using the target direction is discussed. An actual sensor system using two CdS sensors is proposed. An navigation algorithm using the sensor system is also presented. The algorithm uses only two kinds of information by two sensor systems, which are target direction and existence of obstacles near the mobile robot, unlike typical sensor based navigation algorithm which uses the information of the position of the mobile robot. Some experiments by a developed mobile robot using the sensor-based navigation algorithm show an effectiveness of the navigation system and the algorithm.
日本ロボット学会誌 16(8), 1083-1090, 1998-11-15
The Robotics Society of Japan