カテゴリ: 論文誌(論文単位)グループ名: 【C】電子・情報・システム部門発行日: 2018/02/01タイトル(英語): Motion Planning by T-RRT with Potential Function for Vertical Articulated Robots著者名: 株丹 亮（九州工業大学），西田 健（九州工業大学）著者名(英語): Ryo Kabutan (Kyushu Institute of Technology), Takeshi Nishida (Kyushu Institute of Technology)キーワード: 経路探索，RRT，T-RRT，ポテンシャル関数 motion planning，RRT，T-RRT，potential function要約(英語): RRT (rapidly-exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T-RRT (Transition-based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T-RRT is proposed for ensuring ”quality” of a generated path. Then, its effectiveness is evaluated via comparison with other sampling-based methods using simulation of the industrial robot having seven degrees of freedom.本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.138 No.2 （2018） 特集：電磁波応用を加速するための高周波回路・計測・システム技術本誌掲載ページ: 165-172 p原稿種別: 論文／日本語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/138/2/138_165/_article/-char/ja/
