Abstract
Wheel drive is widely used for mobile robots because of its high mobility and efficiency. Since it is necessary to set wheel position apart from others to keep enough stability, the size of robot tends to become larger. So it gets to be difficult to operate in crowded space. To resolve this problem, we propose wheel position optimization using receding horizon control for leg/wheel robots. Wheel position is optimized for each wheels independently to balance stability with mobility. In this paper, we show how to compute optimal wheel position by receding horizon control. Then, we verified our method through simlations and confirmed its effictiveness.
