Paper Abstract and Keywords |
Presentation |
2006-02-23 11:30
Path Planning using Potential Field for 3D Reconstruction by a Mobile Robot Katsuya Kawai, Atsushi Nakazawa, Kiyoshi Kiyokawa, Haruo Takemura (Osaka Univ.) |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
We have developed an information gathering mobile robot that acquires geometry information of a disaster site. The robot has an omnidirectional range sensor, an omnidirectional camera, and an orientation sensor. We use a potential field method to plan a path to the goal avoiding some obstacles and rough terrain. The planned path presented as a spline curve is used to the mobile robot trajectory control. Outdoor experiments have shown that the autonomous mobile robot runs and reconstructs the real environment successfully. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Disaster Site / Three Dimentional Geometry / Path Planning / Frequency Analysis / Range Image Processing / / / |
Reference Info. |
IEICE Tech. Rep., vol. 105, no. 614, PRMU2005-198, pp. 85-90, Feb. 2006. |
Paper # |
PRMU2005-198 |
Date of Issue |
2006-02-16 (TL, PRMU) |
ISSN |
Print edition: ISSN 0913-5685 |
Download PDF |
|
Conference Information |
Committee |
PRMU TL |
Conference Date |
2006-02-23 - 2006-02-24 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
|
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
|
Paper Information |
Registration To |
PRMU |
Conference Code |
2006-02-PRMU-TL |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Path Planning using Potential Field for 3D Reconstruction by a Mobile Robot |
Sub Title (in English) |
|
Keyword(1) |
Disaster Site |
Keyword(2) |
Three Dimentional Geometry |
Keyword(3) |
Path Planning |
Keyword(4) |
Frequency Analysis |
Keyword(5) |
Range Image Processing |
Keyword(6) |
|
Keyword(7) |
|
Keyword(8) |
|
1st Author's Name |
Katsuya Kawai |
1st Author's Affiliation |
Osaka University (Osaka Univ.) |
2nd Author's Name |
Atsushi Nakazawa |
2nd Author's Affiliation |
Osaka University (Osaka Univ.) |
3rd Author's Name |
Kiyoshi Kiyokawa |
3rd Author's Affiliation |
Osaka University (Osaka Univ.) |
4th Author's Name |
Haruo Takemura |
4th Author's Affiliation |
Osaka University (Osaka Univ.) |
5th Author's Name |
|
5th Author's Affiliation |
() |
6th Author's Name |
|
6th Author's Affiliation |
() |
7th Author's Name |
|
7th Author's Affiliation |
() |
8th Author's Name |
|
8th Author's Affiliation |
() |
9th Author's Name |
|
9th Author's Affiliation |
() |
10th Author's Name |
|
10th Author's Affiliation |
() |
11th Author's Name |
|
11th Author's Affiliation |
() |
12th Author's Name |
|
12th Author's Affiliation |
() |
13th Author's Name |
|
13th Author's Affiliation |
() |
14th Author's Name |
|
14th Author's Affiliation |
() |
15th Author's Name |
|
15th Author's Affiliation |
() |
16th Author's Name |
|
16th Author's Affiliation |
() |
17th Author's Name |
|
17th Author's Affiliation |
() |
18th Author's Name |
|
18th Author's Affiliation |
() |
19th Author's Name |
|
19th Author's Affiliation |
() |
20th Author's Name |
|
20th Author's Affiliation |
() |
Speaker |
Author-1 |
Date Time |
2006-02-23 11:30:00 |
Presentation Time |
30 minutes |
Registration for |
PRMU |
Paper # |
TL2005-63, PRMU2005-198 |
Volume (vol) |
vol.105 |
Number (no) |
no.612(TL), no.614(PRMU) |
Page |
pp.85-90 |
#Pages |
6 |
Date of Issue |
2006-02-16 (TL, PRMU) |