Algorithmic study on path and motion planning of robots ロボットの経路計画と運動計画アルゴリズムに関する研究

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著者

    • 劉, 雲輝 リュウ, ユンホイ

書誌事項

タイトル

Algorithmic study on path and motion planning of robots

タイトル別名

ロボットの経路計画と運動計画アルゴリズムに関する研究

著者名

劉, 雲輝

著者別名

リュウ, ユンホイ

学位授与大学

東京大学

取得学位

博士 (工学)

学位授与番号

甲第9500号

学位授与年月日

1992-03-30

注記・抄録

博士論文

目次

  1. Contents / p5 (0008.jp2)
  2. 1 Introduction / p8 (0011.jp2)
  3. 1.1 Path Planning and Motion Planning / p8 (0011.jp2)
  4. 1.2 Subjects of This Study / p12 (0015.jp2)
  5. 1.3 Review of Previous Work / p13 (0016.jp2)
  6. 1.4 Originality and Outline of This Thesis / p17 (0020.jp2)
  7. 2 Path Planning of Mobile Robots:Proposal of Tangent Graph / p22 (0025.jp2)
  8. 2.1 Introduction / p22 (0025.jp2)
  9. 2.2 Definitions and Symbols / p23 (0026.jp2)
  10. 2.3 The Tangent Graph / p27 (0030.jp2)
  11. 2.4 Evaluation of the Tangent Graph / p29 (0032.jp2)
  12. 2.5 Path Planning on Tangent Graph / p37 (0040.jp2)
  13. 2.6 Conclusion / p37 (0040.jp2)
  14. 3 Computation of Tangent Graph / p39 (0042.jp2)
  15. 3.1 Introduction / p39 (0042.jp2)
  16. 3.2 A Simple Algorithm / p40 (0043.jp2)
  17. 3.3 A Line-Moving Algorithm / p41 (0044.jp2)
  18. 3.4 Intersection Check / p53 (0056.jp2)
  19. 3.5 Evaluation of Line-Moving Algorithm / p54 (0057.jp2)
  20. 3.6 Experiments / p56 (0059.jp2)
  21. 3.7 Conclusion / p56 (0059.jp2)
  22. 4 Path Planning of Mobile Robots:An Approach Without Using Configuration Space / p58 (0061.jp2)
  23. 4.1 Introduction / p58 (0061.jp2)
  24. 4.2 The Extended Tangent Graph / p60 (0063.jp2)
  25. 4.3 Non-uniqueness of Threshold Intervals / p62 (0065.jp2)
  26. 4.4 Uniqueness of Threshold Interval for Locally Shortest Paths / p63 (0066.jp2)
  27. 4.5 The Data Size / p69 (0072.jp2)
  28. 4.6 Computation of the ETG / p71 (0074.jp2)
  29. 4.7 Path Planning on ETG / p71 (0074.jp2)
  30. 4.8 Simulations / p72 (0075.jp2)
  31. 4.9 Conclusion / p72 (0075.jp2)
  32. 5 Coordination Planning:Two Mobile Robots in Unknown Environments / p79 (0082.jp2)
  33. 5.1 Introduction / p79 (0082.jp2)
  34. 5.2 Robot and Environment Model / p80 (0083.jp2)
  35. 5.3 Task Space and Task Obstacle / p82 (0085.jp2)
  36. 5.4 Outline of the Coordination Planning Algorithm / p83 (0086.jp2)
  37. 5.5 Motion Planning Planner / p85 (0088.jp2)
  38. 5.6 Collision Avoidance Planner / p86 (0089.jp2)
  39. 5.7 Convergence of the Coordination Planning Algorithm / p94 (0097.jp2)
  40. 5.8 Simulation / p95 (0098.jp2)
  41. 5.9 Conclusion / p96 (0099.jp2)
  42. 6 Coordination Planning:Minimum-time Trajectory with Path Constraints / p99 (0102.jp2)
  43. 6.1 Introduction / p99 (0102.jp2)
  44. 6.2 Problem Formulation / p101 (0104.jp2)
  45. 6.3 Parametrized Dynamics / p103 (0106.jp2)
  46. 6.4 The Minimum-Time Trajectory / p105 (0108.jp2)
  47. 6.5 Torque Optimization / p105 (0108.jp2)
  48. 6.6 Number of Saturated Torques and Internal Forces / p108 (0111.jp2)
  49. 6.7 Numerical Simulations / p108 (0111.jp2)
  50. 6.8 Conclusion / p116 (0119.jp2)
  51. 7 Conclusions and Future Topics / p117 (0120.jp2)
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各種コード

  • NII論文ID(NAID)
    500000098616
  • NII著者ID(NRID)
    • 8000000098845
  • DOI(NDL)
  • NDL書誌ID
    • 000000262930
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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