Operations planning method of autonomous mobile robot, autonomous control method for an autonomous mobile robot that uses a motion planning method for a mobile robot, motion planning system of autonomous mobile robot, motion control device of an autonomous mobile robot, an autonomous mobile robot motion planning program, autonomous control of mobile robot program

摘要

PROBLEM TO BE SOLVED: To perform an operation plan for enabling an autonomous mobile robot to reach a target position with sufficient accuracy, in an indefinite environment of a flow speed and the flow direction.;SOLUTION: A dynamic planning method in an Augmented MDP is applied based on an assumption that the probability distribution on a state of the behavior subject can be expressed by entropy of a state among a partial observation Markov determining process (POMDP). In the present invention, a state of the autonomous mobile robot is expressed by including Cartesian coordinates, an azimuth angle, entropy on the probability distribution of the Cartesian coordinates and entropy on the probability distribution of the azimuth angle, and position coordinates constituted of the Cartesian coordinates and the azimuth angle are probabilistically calculated.;COPYRIGHT: (C)2012,JPO&INPIT