A study on the optimal path of a mobile robot based on mobility and recurrency

摘要

In this article, we define mobility and recurrency, and acquire the desired mobility and recurrency which result from the dynamic space change between two wheels of a mobile robot, assuming that the robot has a fixed wheel radius. When a robot has a fixed interval between its two wheels, it cannot avoid a sudden obstacle because of the constraints of mobility and recurrency. The focus of this article is on instant recurrency, but high, stable mobility. That is, by changing the space between the two wheels in the simulation, the mobile robot could gain high recurrency instantly, and also high mobility with stability. We supposed that mobility and recurrency, as defined in this article, are applied to the design of a mobile robot. We suggest a theoretical change based on the optimal design of a mobile robot. The experimental data support the validity of this definition of mobility and recurrency.