1P1-K13 Real-time Obstacle Avoidance for Car-Type Autonomous Mobile Robot(Wheeled Robot/Tracked Vehicle)
Masanori Sato, Masataka Hirai, Tetsuo Tomizawa, Shunsuke Kudoh, Takashi Suehiro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
This paper describes a method of real-time obstacle avoidance for a car-type mobile robot. Car-type robots have an advantage in stability as the personal mobility, while specific features to car-type robots need to be considered in obstacle avoidance. They cannot avoid adjacent obstacles without the backward movement because they do not have a function to make a spin turn. In addition, there is fear that the accident will occur due to the difference between track followed by front and back inner wheels during turning. We developed a model method of obstacle avoidance that considered the unavoidable area and the track difference, and evaluated it using an actual car-type robot.