A study on path planning for small mobile robot to move in forest area
A study on path planning for small mobile robot to move in forest area
复制标题
小型移动机器人林区移动路径规划研究
DOI：
10.1109/robio.2017.8324740
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Takanishi A.
中科院分区：
文献类型：
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作者：
Tanaka K.;Okamoto Y.;Ishii H.;Kuroiwa D.;Yokoyama H.;Inoue S.;Shi Q.;Okabayashi S.;Sugahara Y.;Takanishi A.
针对林区自主监测的需求，我们正在开发一种基于移动机器人的自主监测系统。自主作业需要有效的路径规划。机器人需要在草地上运动，才能在天然林区中移动，因此需要考虑草地上的路径路径。本研究的目的是开发一种小型移动机器人在森林中移动的路径规划方法。我们把重点放在了用来生成这条小路的成本上，并试图将草本植物添加到成本地图中。草地植被度对生成最优路径是有效的，机器人可以按照生成的路径在森林中移动。
We are developing an autonomous monitoring system using mobile robot in response to the demands of autonomous monitoring in forest area. The effective path planning is required for autonomous operation. The robot needs to locomote in the grassy area so as to move in a natural forest area, therefore the path route on grassy area have to be considered. The objective of this study was to develop a path planning method for small mobile robot to move in the forest. We focused on the cost used to generate the path and try to add grass vegetation into the cost map. The grass vegetation degree is effective to generate the optimal path, and the robot could move in forest by following the generated path.