2A1-G17 Obstacle Avoidance Algorithm with Potential Method Considering Robot Shape
Souichirou ITO, Masaharu Shimizu, Hideaki Yamato, Kiyoshi IRIE, Takayuki FURUTA, Yasuo HAYASHIBARA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
We develop RT component for obstacle avoidance of autonomous mobile robot. Specially, we deal with avoidance algorithm for omni-directional mobile robot. For autonomous robot passes the narrow route, not only position, but also direction of path should be generated according to configuration of environment. To solve this problem, we propose a potential method with translate and rotary motion. In our method, repulsive force is applied to circumference of robot. Therefore, the force is not only applied to the center of gravity of robot. Then, the robot generates rotary motion for avoiding obstacle. By such method, translate and rotate path is generated according to reference model. We introduce a method and confirm its effectiveness by simulations.