Simulation of Obstacle Avoidance about Mobile Robot Based on ADAMS
Author(s): ZHENG Hai-hua, HE Ji-lin, ZHAO Yu-ming, TANG Xue-jia
Pages: 336-341
Year: 2014 Issue: 5
Journal: Computer Simulation
Keyword: Mobile robot; Obstacle avoidance; Artificial potential field method;
Abstract: To solve the problem that the mismatch of gain factors will impact the avoidance trajectory stability a-bout artificial potential field method, a three-dimensional mobile robot obstacle avoidance model was created in the ADAMS environment. The cause of oscillation trajectory was analyzed from the perspective of force balance in the ro-bot. After narrowing the differential between two gain factors, the avoidance trajectory was more stable and robot cen-troid highest growth rate was controlled at a reasonable range. The body posture achieved real-time adjustment during moving by using the velocity vector-oriented rules to guide the robot's steering movement. It conduces to further pre-ferred avoidance trajectory. The addition of real-time steering is more valuable for the differential steering robot con-trol against the parallel movement due to the differential motion parameters of two side wheels.
Pages: 336-341
Year: 2014 Issue: 5
Journal: Computer Simulation
Keyword: Mobile robot; Obstacle avoidance; Artificial potential field method;
Abstract: To solve the problem that the mismatch of gain factors will impact the avoidance trajectory stability a-bout artificial potential field method, a three-dimensional mobile robot obstacle avoidance model was created in the ADAMS environment. The cause of oscillation trajectory was analyzed from the perspective of force balance in the ro-bot. After narrowing the differential between two gain factors, the avoidance trajectory was more stable and robot cen-troid highest growth rate was controlled at a reasonable range. The body posture achieved real-time adjustment during moving by using the velocity vector-oriented rules to guide the robot's steering movement. It conduces to further pre-ferred avoidance trajectory. The addition of real-time steering is more valuable for the differential steering robot con-trol against the parallel movement due to the differential motion parameters of two side wheels.
Related Articles