OPERATION PLANNING METHOD OF AUTONOMOUS MOBILE ROBOT, CONTROL METHOD OF AUTONOMOUS MOBILE ROBOT USING OPERATION PLANNING METHOD OF AUTONOMOUS MOBILE ROBOT, OPERATION PLANNING DEVICE OF AUTONOMOUS MOBILE ROBOT, OPERATION CONTROL DEVICE OF AUTONOMOUS MOBILE ROBOT, OPERATION PLANNING PROGRAM OF AUTONOMOUS MOBILE ROBOT AND CONTROL PROGRAM OF AUTONOMOUS MOBILE ROBOT

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