1A1-H06 形状を考慮したポテンシャル法による障害物回避アルゴリズム : 第2報:実験による検証(次世代ロボット知能化技術開発プロジェクト)

概要

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In this paper, we discuss an obstacle avoidance algorism with potential method considering robot shape. We are developing RT component for obstacle avoidance of autonomous mobile robot. Specially, we deal with avoidance algorithm for Omni-directional mobile robot. For autonomous robot pass the narrow route, not only position, but also direction of path should be generated according to configuration of environment. To solve this problem, we proposed a potential method with translate and rotary motion. In our method, repulsive force is applied to circumference of robot. Therefore, the force is not only applied to the center of gravity of robot. Then, the robot generates rotary motion for avoiding obstacle. By such method, translate and rotate path is generated according to reference model. We introduce a method and confirm its effectiveness by experiments.
一般社団法人日本機械学会の論文
2011-05-26