Title :
Obstacle avoidance for mobile robot considering limitation of motion (steering and variable speed method for power-wheeled-steering-type robot)
Author :
Dozono, Y. ; Tsushima, K.
Author_Institution :
Mech. Eng. Res. Lab., Hitachi Ltd., Ibaraki, Japan
Abstract :
We have developed an obstacle avoidance method for a power-wheeled-steering-type robot, taking the limitation of the motion into consideration. In this method, the pattern of acceleration of the drive wheel is defined according to the mechanical restriction of the motion and the response of the actuators to move the robot, so the robot can follow the planned motion for avoiding obstacles. The effectiveness of this method is shown by simulation
Keywords :
acceleration; collision avoidance; electric actuators; mobile robots; acceleration; actuators; drive wheel; mechanical restriction; mobile robot; motion limitation; obstacle avoidance method; planned motion; power-wheeled-steering-type robot; variable speed method; Acceleration; Actuators; Angular velocity; Drives; Gears; Mechanical sensors; Mobile robots; Robot sensing systems; Vehicles; Wheels;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812490
