Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

Figure 14

Z-shaped obstacle distribution experiment. (a) Robot trajectory diagram of Z-shaped obstacle avoidance. (b) Trajectory curves of head point A and rear point B of the body, and the position of A and B is shown in Figure 1. (c) Steering angle of AF and AR (the unit is degree), and speed control value V (zero speed and full speed are 90 and 180, respectively). (d) When the robot moves to the first corner D, the lidar map (the head of the robot is always upward in the figure) and the corresponding actual obstacle distribution map (the head of the robot is facing up to the right in the figure). (e) When the robot moves to the second corner C, the lidar map (the head of the robot is always upward in the figure) and the corresponding actual obstacle distribution map (the head of the robot is facing up to the right in the figure).

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