Obstacle Avoidance for Mobile Robot Considering Limitation of Motion.

摘要

This paper presents a new obstacle avoidance method. This method considers the limitation of the motion which is decided by the mechanical restriction of the motion and the characteristics of the actuators to drive the robot. So the robot can follow the motion planed to avoid obstacles. This method can apply to each robot, because the specification of the robot is treated as parameters in the method. The area of the movable orientation of the robot is calculated according to the specification of the robot (the limitation of the motion, the range of the external sensor, the period to plan the motion, etc.). The orientation to move is common to the area of the movable orientation and the area of the orientation which can avoid obstacles. Then the robot changes the orientation, keeping the limitation of the motion. The effectiveness of this method is shown by simulation.