最低地上高を考慮した微小障害物回避の検証実験

抄録

Obstacle avoidance functions are necessary for mobile robots. However, there are few methods to generate a path considering the height of obstacles. In this paper, we describe a verification experiment of a method of generating a avoidance over a small obstacle using the minimum ground clearance of a wheel type robot. A robot equipped with a three-dimensional distance sensor was used for a differential two-wheel robot. We were able to detect small obstacles by a three-dimensional distance sensor and avoid avoiding the minimum ground clearance.