1P2-F04 Prototyping of Kinematics Simulator for Support for Autonomous Mobile Robot Development

Abstract

A kinematics simulator of an autonomous mobile robot is proposed for the purpose of simulating complicated motions such as those caused by interaction between robot and environment in terms of geometric relationship. This paper presents the simulator concept, the basic configuration of the simulator, and the result of a preliminary simulation experiment which has been performed to evaluate mainly two follow-up motions: along a line and along a circular arc.