Wall deadlock evasion motion of tracked vehicles for narrow space navigation

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  • 狭隘路を走行するクローラロボットのための壁デッドロック回避動作

Abstract

<p>In this paper, the authors construct a motion generation method to avoid wall deadlock problem. Wall deadlock is a phenomenon that the robot cannot leave from a wall once it collides on it because collision force inhibits the motion. The proposed method is constructed directory from a static model of the tracked vehicle colliding with a wall.</p>

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