2A1-G18 Study on Path Generation for Robots with Different Driving Systems

Abstract

In this paper, we discuss on path generation for robots with different driving systems. We are developing RT-component to generate a path for various mobile robots. To develop a reusable component, we propose a method to generate path with hierarchical components. In upper component, it generates universal path according to map data. In lower component, it generates individual path according to characteristics of robot and demands of operator. We indicate the method and confirm its effectiveness through simulations.