1A1-P17 Development of AGV navigation system using iGPS : 4th report: Proposal of the obstacle avoidance in consideration of turning cost and time distance(Mobile Manipulation Robot)
Shinpei Nakamoto, Daisuke Chugo, Sho Yokota, Kunikatsu Takase · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
In our current research, we are developing a practical mobile vehicle navigation system which is capable of controlling multiple vehicles on the general environment. In order to realize the practical use, navigation system should have obstacle avoidance function. Therefore, in this paper, we propose the vehicle navigation system with a suitable path which avoids the obstacle automatically. Our proposed path generating scheme for the obstacle avoidance considers not only its mileage but also the times and angular of its turning. Using our scheme, the AVG can follow the reference path and can avoid the obstacles with minimum cost. The performance of our proposed control system is experimented with our prototype.