Online Motion Planning For Mobile Robot

摘要

This paper presents an online motion planning system for mobile robot with a simulator based technique. The simulator is made based on the self-build platform on the mobile robot by using Python language. The collecting data as an information in the simulator is built base on holonomic wheeled type of robot. The specification and configuration of this mobile robot follows the guidelines issued by Middle Sized League Robocup competition. The purpose of this paper to make simulator software as a visualization widget that makes a representation of the coordinate position of the robot and the soccer field condition. The position and orientation of the robot information are gated in this visualization widget. The soccer field representation in a two dimensional condition as a game field of the robot. The robot coordinate as an object with magenta color with have each number of the robot. This object is enable to move in any direction as represent whatever operator want to change the position and orientation of the robot. These condition purpose was used and it can increasing usability of the system. The testing condition between real testing and simulation testing was implemented. Based on the experimental result, the data was conducted we get root mean square error around 1.29 percent of X direction, 1.65 percent of Y direction and around 1.06 percent of the symmetrical trajectory along X and Y coordinate. The result shows that the online motion planning with simulator based can be directly implemented to the soccer robot in the real time condition.