PATH PLANNING WITH ROBOT’S TRANSFORMATION FOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TORO-IV)

2012 ◽  
pp. 199-206
Author(s):  
TATSUYA OSAWA ◽  
TERUYOSHI OGAWA ◽  
TARO NAKAMURA
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Traveling Wave ◽  
Wave Type

Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)

2012 ◽  
Vol 24 (2) ◽  
pp. 340-346 ◽  
Author(s):  
Teruyoshi Ogawa ◽  
◽  
Taro Nakamura
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Traveling Wave ◽  
Potential Method ◽  
Path Tracking ◽  
Planning Method ◽  
Stable Operation ◽  
Wave Type ◽  
Tracking Method ◽  
Path Tracking Method

An omnidirectional movement mechanism is needed that can move a robot in a narrow complicated passage. However, existing mechanisms cannot achieve stable operations. We noted that a snail uses traveling waves and can achieve a stable operation because of a large landing area. We therefore developed a traveling-wave-type mobile robot (TORoIII) using a snail’s locomotive mechanism. However, the directions of the robot were restricted by the number of units, i.e., the directions corresponded to the number of units. In addition, to use this robot as an autonomous robot, self-localization method and path planning method are required. At present, these methods for this robot have not been proposed. In this study, we propose a new perfectly omnidirectional locomotion strategy for TORoIII. In addition, we propose odometry based on kinematics and path planning method based on potential method. Furthermore, we propose online path tracking method using the odometry. We experimentally confirmed the utility of these proposed methods.

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