Path generation of the wheel type robot passing over an small obstacle
Hiroto KOBAYASHI, Yasushi HADA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
Obstacle avoidance functions are necessary for mobile robots. However, there are few methods to generate a path considering the height of obstacles. In this paper, we describe a method of generating a avoidance path over a small obstacle using the minimum ground clearance of a wheel type robot. Obtain the position and orientation of caster of the follower and left and right wheels from the angular velocity of the wheel. Let these be the constraints of route generation. Then create a graph structure based on the DEM and perform route search. Thereafter, a path is generated using a spline curve.