Reactive Motion Planning of a Wheeled Mobile Robot by Using Virtual Manipulators

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  • 仮想マニピュレータを用いた移動ロボットの反射的動作生成法
  • カソウ マニピュレータ オ モチイタ イドウ ロボット ノ ハンシャテキ ドウサ セイセイホウ

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Abstract

This paper describes a novel method of path following by a wheeled mobile robot. A number of virtual manipulators mounted on the robot are used to make the robot poses which satisfy both of path following and collision avoidance. This method can calculate robot poses by using a single jacobi matrix despite of coping with several manipulators. We also present about the method of tracking stabilization by using a singularity-avoiding criteria. Effectiveness of the proposed method is proven by means of simulation in both cases of omnidirectional wheelbase and 2 wheeled mobile base.

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