A method of trajectory generation to vehicle robot under unknown environment
Daisuke Nagahara, Satoru Takahashi, Takayuki Tanaka, Shun’ichi Kaneko · World Automation Congress · 2010
In this paper, we propose a method of trajectory generation without colliding obstacles to the vehicle robot using the distance information obtained by the scanning laser range finder. First, the vehicle robot mounted on the scanning laser range finder calculates the position of obstacles based on each angle's distance information, and then generates the trajectory which reaches the final destination. According to this trajectory, the robot can move in the irregular ground such as the grape fields. Through the experimental data we prove our proposed method is utilized.