Abstract
This paper describes a path planning that considers the robot shape with a transported object for an omnidirectional transportation mobile robot. The path planning considering the robot shape is usually treated in a Configuration Space. However, a mapping to the Configuration Space needs much computational complexity to check the collision of the robot and obstacles. Therefore, we propose a method for reducing the computational complexity using the domain decomposition according to the collision condition that the robot posture depends on or not. The effectiveness of the path generated by combining a distance transform and a potential method is verified through some simulations.
