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Koichiro Shiraishi,Hajime Kimua 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper deals with motion planning for a multifunctional under water robot that can perform various tasks such as swimming, walking and grasping objects. The author shaved eveloped a unified motion planning method that can generate motion planning for avariety of movement using a single algorithm. Under this method, motion planning problems are modeled as finite-horizon Markov decision processes, and optimum motion planning is achieved by dy-namic programming. However conventional dynamic programming is sometimes considered to have limited applicability because of ”thecurse of dimensionality.” To avoid this issue, we propose two efficient approaches. One is an application a random network as a state transition network to suppress the explosion in the number of states. The other is a modification using agradient method to improve the found motionin the random network. The effectiveness of the proposed method is demonstrated through numerical simulations involving two types of tasks formulti functional robots. One is a reaching task, and the other is a thrust force generation task.