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
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
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東京大学
- 取得学位
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博士 (工学)
- 学位授与番号
-
甲第9500号
- 学位授与年月日
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1992-03-30
注記・抄録
博士論文
目次
- Contents / p5 (0008.jp2)
- 1 Introduction / p8 (0011.jp2)
- 1.1 Path Planning and Motion Planning / p8 (0011.jp2)
- 1.2 Subjects of This Study / p12 (0015.jp2)
- 1.3 Review of Previous Work / p13 (0016.jp2)
- 1.4 Originality and Outline of This Thesis / p17 (0020.jp2)
- 2 Path Planning of Mobile Robots:Proposal of Tangent Graph / p22 (0025.jp2)
- 2.1 Introduction / p22 (0025.jp2)
- 2.2 Definitions and Symbols / p23 (0026.jp2)
- 2.3 The Tangent Graph / p27 (0030.jp2)
- 2.4 Evaluation of the Tangent Graph / p29 (0032.jp2)
- 2.5 Path Planning on Tangent Graph / p37 (0040.jp2)
- 2.6 Conclusion / p37 (0040.jp2)
- 3 Computation of Tangent Graph / p39 (0042.jp2)
- 3.1 Introduction / p39 (0042.jp2)
- 3.2 A Simple Algorithm / p40 (0043.jp2)
- 3.3 A Line-Moving Algorithm / p41 (0044.jp2)
- 3.4 Intersection Check / p53 (0056.jp2)
- 3.5 Evaluation of Line-Moving Algorithm / p54 (0057.jp2)
- 3.6 Experiments / p56 (0059.jp2)
- 3.7 Conclusion / p56 (0059.jp2)
- 4 Path Planning of Mobile Robots:An Approach Without Using Configuration Space / p58 (0061.jp2)
- 4.1 Introduction / p58 (0061.jp2)
- 4.2 The Extended Tangent Graph / p60 (0063.jp2)
- 4.3 Non-uniqueness of Threshold Intervals / p62 (0065.jp2)
- 4.4 Uniqueness of Threshold Interval for Locally Shortest Paths / p63 (0066.jp2)
- 4.5 The Data Size / p69 (0072.jp2)
- 4.6 Computation of the ETG / p71 (0074.jp2)
- 4.7 Path Planning on ETG / p71 (0074.jp2)
- 4.8 Simulations / p72 (0075.jp2)
- 4.9 Conclusion / p72 (0075.jp2)
- 5 Coordination Planning:Two Mobile Robots in Unknown Environments / p79 (0082.jp2)
- 5.1 Introduction / p79 (0082.jp2)
- 5.2 Robot and Environment Model / p80 (0083.jp2)
- 5.3 Task Space and Task Obstacle / p82 (0085.jp2)
- 5.4 Outline of the Coordination Planning Algorithm / p83 (0086.jp2)
- 5.5 Motion Planning Planner / p85 (0088.jp2)
- 5.6 Collision Avoidance Planner / p86 (0089.jp2)
- 5.7 Convergence of the Coordination Planning Algorithm / p94 (0097.jp2)
- 5.8 Simulation / p95 (0098.jp2)
- 5.9 Conclusion / p96 (0099.jp2)
- 6 Coordination Planning:Minimum-time Trajectory with Path Constraints / p99 (0102.jp2)
- 6.1 Introduction / p99 (0102.jp2)
- 6.2 Problem Formulation / p101 (0104.jp2)
- 6.3 Parametrized Dynamics / p103 (0106.jp2)
- 6.4 The Minimum-Time Trajectory / p105 (0108.jp2)
- 6.5 Torque Optimization / p105 (0108.jp2)
- 6.6 Number of Saturated Torques and Internal Forces / p108 (0111.jp2)
- 6.7 Numerical Simulations / p108 (0111.jp2)
- 6.8 Conclusion / p116 (0119.jp2)
- 7 Conclusions and Future Topics / p117 (0120.jp2)