2016 Volume 34 Issue 1 Pages 40-47
A path-generating regulator is a control method for two-wheeled or four-wheeled mobile robots to converge a position and heading angle of a vehicle to the origin. We have proposed a method for performing obstacle avoidance by modifying the target heading angle to correspond to obstacle and shown the simulation results. In the paper, we perform obstacle avoidance experiment by a real vehicle and confirm the validity. Moreover, we discuss the application of the proposed method to the situation with unknown obstacles. To cope with unknown obstacles, we employ a laser range finder and update the steering control when the obstacles are found. We verify the vehicle trajectory obtained from the experiments and conclude that the performance of the proposed method is enough to be applied to the real vehicle.
