The return way path planning of an autonomous mobile robot considering traveling risk of the road

Mutsumi Iwasa, Yuichiro Toda, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since it is difficult to obtain accurate environmental maps at the disaster site, an autonomous mobile robot moves to the destination while updating the environmental map based on the information observed by the equipped sensors. Therefore, it is a difficult task to return safely to the departure point after the robot reached the destination point and completed the instructed task. In this study, we propose a method for an autonomous mobile robot to return safely from the destination point to the departure point in static partially unknown environment. On the outward way, the robot updates the environmental map using traveling risk evaluation scores quantifying the safety of the terrain. Then, in the return way planning, the optimum route is searched using the distance and the risk evaluation score as indices. We implement the combination of A∗ algorithm and iterative search method for path planning. In order to validate the effectiveness of the proposed method, computer simulation using the virtual environment was performed.

Original languageEnglish
Title of host publicationProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1406-1409
Number of pages4
ISBN (Electronic)9781538626337
DOIs
Publication statusPublished - May 15 2019
EventJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 - Toyama, Japan
Duration: Dec 5 2018Dec 8 2018

Publication series

NameProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018

Conference

ConferenceJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
CountryJapan
CityToyama
Period12/5/1812/8/18

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Keywords

  • Autonomous mobile robot
  • A∗ algorithm
  • Iterative search method
  • Path planning

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Logic
  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Science Applications
  • Theoretical Computer Science

Cite this

Iwasa, M., Toda, Y., & Kubota, N. (2019). The return way path planning of an autonomous mobile robot considering traveling risk of the road. In Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 (pp. 1406-1409). [8716087] (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2018.00219