Local Motion Planning for an Autonomous Mobile Robot

摘要

The major problem addressed by this research is how to develop a motion controlalgorithm for local motion planning of an autonomous mobile robot. The approach taken was to clearly define the robot's motion descriptions and to design a high-level, machine independent robot control language called MML (Model-based Mobile robot Language). The results are that the robot can implement smooth rotation, symmetric, and initial motion tracking on an given environment. Based on the motion control algorithm developed in this thesis, the robot with rigid body can be applicable in both local and global motion planning. The experimental results were successful. The algorithms were implemented first on a simulator, then on the autonomous mobile robot Yamabico-Ji. Given an initial and final configuration, the vehicle demonstrated the capability to safely achieve its goal.