Obstacle avoidance for mobile robot considering limitation of motion (steering and variable speed method for power-wheeled-steering-type robot)

摘要

We have developed an obstacle avoidance method for a power-wheeled-steering-type robot, taking the limitation of the motion into consideration. In this method, the pattern of acceleration of the drive wheel is defined according to the mechanical restriction of the motion and the response of the actuators to move the robot, so the robot can follow the planned motion for avoiding obstacles. The effectiveness of this method is shown by simulation.