1P1-L06 Path Planning by Using 3-dimensional Map Including Vertical Information(Wheeled Robot/Tracked Vehicle)

Abstract

In this paper, we have tried generating a path from the start position to the goal position which is movable with mobile robots. Because mobile robots with wheels cannot move onto a step by the problem in the mechanism, we made a path with considering the gradient of ground level. Q-learning is one of the method witch is often used to planning path. We have made a robot learn to get path which has less gradient of ground with Q-learning. The effectiveness of this method is investigated with an actual robot in the real environment that has steps and slopes. The experimental result shows the effectiveness of this approach.