Simulation of Obstacle Avoidance about Mobile Robot Based on ADAMS
Zheng Hai-hu · Jisuanji fangzhen · 2014
To solve the problem that the mismatch of gain factors will impact the avoidance trajectory stability about artificial potential field method,a three-dimensional mobile robot obstacle avoidance model was created in the ADAMS environment. The cause of oscillation trajectory was analyzed from the perspective of force balance in the robot. After narrowing the differential between two gain factors,the avoidance trajectory was more stable and robot centroid highest growth rate was controlled at a reasonable range. The body posture achieved real-time adjustment during moving by using the velocity vector-oriented rules to guide the robot's steering movement. It conduces to further preferred avoidance trajectory. The addition of real-time steering is more valuable for the differential steering robot control against the parallel movement due to the differential motion parameters of two side wheels.