Mobility evaluation of mobile robots for avoiding dynamic obstacles

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  • 動的障害物回避のための移動ロボットの機動性評価

Abstract

<p>When a mobile robot moves in dynamic environment, estimating collision with dynamic obstacles and avoiding collision in limitation of mobility of the robot are required. In this paper, we address differential drive robot which is most popular driving mechanism for mobile robots, and four wheel drive-steering robot which is popular as a driving system for mobile manipulators but not popular as a driving system for mobile robots. We think that since four wheel drive-steering robots can change their direction by steering, they are able to avoid obstacles more agilely than differential drive robots. We evaluate the two kinds of driving mechanism in their mobility.</p>

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