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author Nozomi Teruya <e125769@ie.u-ryukyu.ac.jp>
date Fri, 22 Jul 2016 11:43:42 +0900
parents 3bee23948f70
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12:71244076e066 13:8ae14c56ea14
459 * In order to reduce the risk of contact with the target person or an obstacle, the positions that repre 459 * In order to reduce the risk of contact with the target person or an obstacle, the positions that repre
460 * If all the candidate points on a given circumference sector result in contact with an obstacle, then the representative points of that sector are not selected. 460 * If all the candidate points on a given circumference sector result in contact with an obstacle, then the representative points of that sector are not selected.
461 * According to the aforementioned process, the base position of the robot is planned based on the position of the requested goods. 461 * According to the aforementioned process, the base position of the robot is planned based on the position of the requested goods.
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466 # 5.3. Movement path planning - Path planning for robots 464 # 5.3. Movement path planning - Path planning for robots
467 * Path planning for robots that serve in a general living environment requires a high degree of safety, which can be achieved by lowering the probability of contact with persons. 465 * Path planning for robots that serve in a general living environment requires a high degree of safety, which can be achieved by lowering the probability of contact with persons.
468 * However, for robots that push wagons, the parameter space that uniquely defines this state has a maximum of six dimensions, that is, position (x,y) and posture (θ) of a robot and a wagon, and planning a path that represents the highest safety values in such a space is time consuming. 466 * However, for robots that push wagons, the parameter space that uniquely defines this state has a maximum of six dimensions, that is, position (x,y) and posture (θ) of a robot and a wagon, and planning a path that represents the highest safety values in such a space is time consuming.
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