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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
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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) 
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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  
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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.)
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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
Date of Issue 2006-02-16 (TL, PRMU) 


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