Motion Planning and Control of Social Mobile Robot – Part 2. Experimental Research

Abstract

The paper is the second part of the work concerned with the motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD 200 robot with synchronously driven and steered wheels. In the first part of the work developed hardware and software architectures of the research object, as well as its kinematic structure were described. In the part two of the paper, state of the art in mobile robot navigation systems is described and the problem of motion planning and control of a mobile platform is considered. The experiments were conducted with a real robot in a real environment. For experimental research the most representative and relevant local motion planning algorithm was chosen. During each experimental traverse of the robot a map of indoor environment was created using Hector SLAM algorithm. For robot localization the same SLAM algorithm was used. The experiments were carried out for the selected local motion planning algorithm. During some experiments additional static and dynamic obstacles were introduced, that were not present before. Results of selected experiments for various environments and additional obstacles were presented and discussed.