書誌事項
- タイトル別名
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- Iterative Dynamic Waypoint Navigation for Avoiding Multiple Moving Obstacles and Improvement of Computational Efficiency
抄録
<p>For providing services where environments exist multiple humans or obstacles, robots need to move with considering multiple humans simultaneously, react quickly to the behavioral changes of pedestrians, choose acceleration/deceleration appropriately, and predict human’s behavioral changes. We thus propose a multiple moving obstacles avoiding method, called Iterative Dynamic Waypoint Navigation (IDWN). The method consists of (i) interference estimation, to predict future interference with a pedestrian, (ii) cluster estimation, to avoid pedestrians as a cluster who cannot be avoided without entering their personal space, (iii) path generator, to calculate waypoints of default speed, acceleration and deceleration paths, (iv) iterative search, to repeat the above three functions for all pedestrians in the environment, and (v) cost calculation, to select the lowest cost trajectory. For reducing the calculation cost, some heuristics, omitting candidates which theoretically increase the cost, are introduced. We implemented the method into a simulator and conducted evaluation experiment by comparing with several conventional methods. As the result of the experiment, we verified that IDWN worked well in versatile dynamic environments with multiple moving obstacles with less computation time.</p>
収録刊行物
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- 年次大会
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年次大会 2020 (0), J16106-, 2020
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390850412753153536
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- NII論文ID
- 130008003788
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- ISSN
- 24242667
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可