Obstacle avoidance algorithm with consideration of wheel load change / 駆動輪の荷重変動を考慮した障害物回避行動
- Resource Type
- Journal Article
- Authors
- Kazuo ISHII; Makito ISHIKURA; Masafumi KUWADA; Shuta WATANABE; 桑田 将史; 渡辺 周太; 石井 和男; 石倉 万希斗
- Source
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2016, :2-17a6
- Subject
- Mobile robot
Obstacle avoiding
Path planning
RoboCup
- Language
- Japanese
- ISSN
- 2424-3124
A lot of obstacle avoiding algorithm for mobile robot has been proposed. However, consideration of slippage that is caused by wheel load change is lacked in these methods. This causes unstable motion of mobile robot. This research aims to achieve safe motion of mobile robot by considering slippage. We propose obstacle avoidance algorithm for omni-wheeled mobile robot without slippage by load change. This was achieved by extension of Dynamic Window Approach algorithm. Proposal method is tested on RoboCup MSL robot. The result shows 60% reduction of slippage compared with conventional method.