Wall Deadlock Evasion Control Based on Rotation Radius Adjustment

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

研究成果: Article査読


This letter describes a wall deadlock evasion method for tracked vehicles. Wall deadlock is a phenomenon where the robot cannot rotate to the commanded direction when it collides with a wall, because the motion is restricted by the wall. The key idea behind solving this problem involves an adjustment of the rotation radius to generate sufficient rotational moment. There are several approaches to generate a rotational moment; however, no previous solution has been established to address this problem by adjusting the rotation radius based on the dynamics of wall deadlock. In this letter, the authors propose a new wall deadlock evasion method based on the sufficient rotation radius estimation. Experimental results show that the robot can generate rotational motion that satisfies conditions expected by the model. The wall deadlock evasion method is implemented and shows improved performance in terms of reproducibility of motion compared with the different approach proposed in our previous work. Wall deadlock evasion provides more choices of motion such as being as close to the obstacles as possible and ensures that the robot can continue locomotion after such motion. By handling wall deadlock, the robots can utilize surrounding walls for motion in situations such as relative positioning or driving in fixed lanes.

ジャーナルIEEE Robotics and Automation Letters
出版ステータスPublished - 2020 4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能


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