2A1-R04 Car-like Robot Type Path-generating Regulator Considered Obstacle Avoidance(Wheeled Robot / Tracked Vehicle (1))
Yasutaka TARUUMI, Wataru Otake, Jun Dai, Naohiko HANAJIMA, Akihiko Takashima · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
Originally, a path-generating regulator (PGR) was a control method for two-wheeled mobile robots to converge a position and a heading angle of a vehicle to the origin of a coordinate frame. The heading angle is controlled so as to align the target heading angle. The target heading angle is the tangential angle of one of the path among the path function group. In the past, we extended the PGR to car-like robots and take care of the singular points, due to both of the mechanism of a car-like robot and the control method. However, the environment with the obstacle is not considered in PGR. In this paper, we propose a method of obstacle avoidance by modifying the target heading angle. And, we confirm avoidance behavior by simulation.