抄録
Mobile robot have to reach at a goal position without collisions against an obstacle. When robot travel in unknown terrain autonomously, it observe geometric information about the surrounding terrain, evaluate a model of the local terrain, search a safety path, and drive. This process is repeated until the goal is reached, a prescribed timeout period expires, or a fault is encountered. However, if generated path which should be followed at once becomes long, gap arises between path and actual environment which are caused by self localization delay, measurement error or wheel slip. This gap will increase a possibility of collision with obstacle. To prevent collision, we have proposed Tele-driving method with Command Data Compensation (CDC), for a long driving. The CDC is a kind of mapping to compensate a distortion of a space, and compensates path to the latest environmental data measured by a rover. In this paper, we discuss combination with proposed Command Data Compensation method and autonomous path planning algorithms.
