Unified motion planning method using random network and gradient method for multifunctional underwater robots

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

2 被引用数 (Scopus)

抄録

This paper deals with motion planning for a multifunctional underwater robot that can perform various tasks such as swimming, walking and grasping objects. The authors have developed a unified motion planning method that can generate motion planning for a variety of movement using a single algorithm. Under this method, motion planning problems are modeled as finite-horizon Markov decision processes, and optimum motion planning is achieved by dynamic programming. However conventional dynamic programming is sometimes considered to have limited applicability because of "the curse of dimensionality." To avoid this issue, we propose two efficient approaches. One is an application a random network as a state transition network to suppress the explosion in the number of states. The other is a modification using a gradient method to improve the found motion in the random network. The effectiveness of the proposed method is demonstrated through numerical simulations involving two types of tasks for multifunctional robots. One is a reaching task, and the other is a thrust force generation task.

本文言語英語
ホスト出版物のタイトルICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ページ3880-3885
ページ数6
出版ステータス出版済み - 12月 1 2009
イベントICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, 日本
継続期間: 8月 18 20098月 21 2009

出版物シリーズ

名前ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

その他

その他ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
国/地域日本
CityFukuoka
Period8/18/098/21/09

!!!All Science Journal Classification (ASJC) codes

  • 情報システム
  • 制御およびシステム工学
  • 産業および生産工学

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