Trajectory Planning in Narrow Spaces Considering Motion Model for Differential-Wheeled Mobility

– Usage of Backward, Switchback and Swelling Trajectory –

Abstract

It is important for autonomous personal mobility(PM) to be able to move in narrow spaces. In this study, we develop a trajectory planning method that takes into account the unique motion model of differtenial-wheeled PMs, e.g., longitudinal body size, inability to move sideways, and inner wheel difference. It inlcudes the use of forward and backward movement, lateral movement by switchback, and sweling movement before turning at a corner. We compared the proposed method with a general path planning method (dynamic window approach) and confirmed that the proposed method does not get stuck.