合理的不注意に基づくRRT*経路計画
Rationally Inattentive Path-Planning via RRT*
不確実な環境で移動ロボットが経路長と知覚コストの重み付き和を最小化する新たな距離指標を提案し、RRT*に統合した経路計画手法を開発した。
著者: Jeb Stefan, Ali Reza Pedram, Riku Funada, Takashi Tanaka
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then integrated with the existing RRT* algorithm. The metric is a weighted sum of two terms which capture both the Euclidean distance traveled by the robot and the perception cost, i.e., the amount of information the robot must perceive about the environment to follow the path safely. The continuity of the path length function with respect to the topology of the total variation metric is shown and the optimality of the Rationally Inattentive RRT* algorithm is discussed. Three numerical studies are presented which display the utility of the new algorithm.
