A novel local path planning method, called the dynamic window approach with virtual manipulators (DWV), is proposed for a mobile robot.
Abstract:
Local path planning considering static and dynamic obstacles for a mobile robot is one of challenging research topics. Conventional local path planning methods generate p...Show MoreMetadata
Abstract:
Local path planning considering static and dynamic obstacles for a mobile robot is one of challenging research topics. Conventional local path planning methods generate path candidates by assuming constant velocities for a certain period time. Therefore, path candidates consist of straight line and arc paths. These path candidates are not suitable for dynamic environments and narrow spaces. This paper proposes a novel local path planning method based on dynamic window approach with virtual manipulators (DWV). DWV consists of dynamic window approach (DWA) and virtual manipulator (VM). DWA is the local path planning method that performs obstacle avoidance for static obstacles under robot constraints. DWA also generates straight line and arc path candidates by assuming constant velocities. VM generates velocities of reflective motion by using virtual manipulators and environmental information. DWV generates path candidates by variable velocities modified by VM and predicted positions of static and dynamic obstacles. Therefore, in an environment with dynamic obstacles, the obstacle-avoidable paths which include non-straight line and non-arc paths are generated. The effectiveness of the proposed method was confirmed from simulation and experimental results.
A novel local path planning method, called the dynamic window approach with virtual manipulators (DWV), is proposed for a mobile robot.
Published in: IEEE Access ( Volume: 10)
Funding Agency:
Graduate School of Maritime Sciences, Kobe University, Kobe, Japan
Masato Kobayashi (Graduate Student Member, IEEE) received the B.E. and M.E. degrees in marine engineering from Kobe University, Japan, in 2017 and 2019, respectively, where he is currently pursuing the Ph.D. degree with the Graduate School of Maritime Sciences. From 2019 to 2021, he was with the Technology Development Division, Seiko Epson Corporation, Japan. He is also working as a Research Intern at OMRON SINIC X Corpor...Show More
Masato Kobayashi (Graduate Student Member, IEEE) received the B.E. and M.E. degrees in marine engineering from Kobe University, Japan, in 2017 and 2019, respectively, where he is currently pursuing the Ph.D. degree with the Graduate School of Maritime Sciences. From 2019 to 2021, he was with the Technology Development Division, Seiko Epson Corporation, Japan. He is also working as a Research Intern at OMRON SINIC X Corpor...View more
Graduate School of Maritime Sciences, Kobe University, Kobe, Japan
Naoki Motoi (Member, IEEE) received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Japan, in 2005, 2007, and 2010, respectively. In 2007, he joined the Partner Robot Division, Toyota Motor Corporation, Japan. From 2011 to 2013, he was a Research Associate at Yokohama National University, Japan. Since 2014, he has been with Kobe University,...Show More
Naoki Motoi (Member, IEEE) received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Japan, in 2005, 2007, and 2010, respectively. In 2007, he joined the Partner Robot Division, Toyota Motor Corporation, Japan. From 2011 to 2013, he was a Research Associate at Yokohama National University, Japan. Since 2014, he has been with Kobe University,...View more
Contents Graduate School of Maritime Sciences, Kobe University, Kobe, Japan
Masato Kobayashi (Graduate Student Member, IEEE) received the B.E. and M.E. degrees in marine engineering from Kobe University, Japan, in 2017 and 2019, respectively, where he is currently pursuing the Ph.D. degree with the Graduate School of Maritime Sciences. From 2019 to 2021, he was with the Technology Development Division, Seiko Epson Corporation, Japan. He is also working as a Research Intern at OMRON SINIC X Corporation, Japan. His current research interests include robotics, motion control, and haptic.
Masato Kobayashi (Graduate Student Member, IEEE) received the B.E. and M.E. degrees in marine engineering from Kobe University, Japan, in 2017 and 2019, respectively, where he is currently pursuing the Ph.D. degree with the Graduate School of Maritime Sciences. From 2019 to 2021, he was with the Technology Development Division, Seiko Epson Corporation, Japan. He is also working as a Research Intern at OMRON SINIC X Corporation, Japan. His current research interests include robotics, motion control, and haptic.View more
Graduate School of Maritime Sciences, Kobe University, Kobe, Japan
Naoki Motoi (Member, IEEE) received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Japan, in 2005, 2007, and 2010, respectively. In 2007, he joined the Partner Robot Division, Toyota Motor Corporation, Japan. From 2011 to 2013, he was a Research Associate at Yokohama National University, Japan. Since 2014, he has been with Kobe University, Japan, where he is currently an Associate Professor. From 2019 to 2020, he also held the position of a Visiting Professor at the Automation and Control Institute (ACIN), TU Wien, Austria. His current research interests include robotics, motion control, and haptic.
Naoki Motoi (Member, IEEE) received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Japan, in 2005, 2007, and 2010, respectively. In 2007, he joined the Partner Robot Division, Toyota Motor Corporation, Japan. From 2011 to 2013, he was a Research Associate at Yokohama National University, Japan. Since 2014, he has been with Kobe University, Japan, where he is currently an Associate Professor. From 2019 to 2020, he also held the position of a Visiting Professor at the Automation and Control Institute (ACIN), TU Wien, Austria. His current research interests include robotics, motion control, and haptic.View more