A unified motion planning method for a multifunctional underwater robot

Koichiro Shiraishi, Hajime Kimura

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

抄録

This paper deals with motion planning for a multifunctional underwater robot which can accomplish various missions, e.g., swimming, walking and grasping objects. Authors have developed a unified motion planning method which can generate motion planning for a variety of task by a single algorithm. In this method, motion planning problems are modeled as finite horizon Markov decision processes. The optimum motion planning is obtained by Dynamic Programming, however Dynamic Programming is sometimes thought to be of limited applicability because of the curse of dimensionality. To avoid the curse of dimensionality, authors applied a random network as a state transition network. The explosion of the number of states can be suppressed by using the random network. The effectiveness of the proposed method is demonstrated through numerical simulations of two types of tasks for multifunctional robots. One is a reaching task, the other is a generating thrust force task.

本文言語英語
ホスト出版物のタイトルProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
ページ591-596
ページ数6
出版ステータス出版済み - 12月 1 2009
イベント14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, 日本
継続期間: 2月 5 20082月 7 2009

出版物シリーズ

名前Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09

その他

その他14th International Symposium on Artificial Life and Robotics, AROB 14th'09
国/地域日本
CityOita
Period2/5/082/7/09

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用

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