Experimental support for motion-aware path-planning research using a Summit mobile robot, with emphasis on physical validation of path choices under robot motion and speed constraints.
The research investigated path selection that considers not only geometric distance, but also how quickly a mobile robot can safely traverse a route.
A narrow or sharply turning path may be geometrically shorter, but can require substantial speed reduction. A wider and smoother route may be longer in distance while still producing a shorter traversal time because the robot can maintain a higher velocity.
The planning approach considered the relationship between route geometry and the mobile robot's achievable motion.
Wider passages and smoother turns can allow the robot to sustain higher speed, while constrained spaces and sharp changes in direction can reduce feasible velocity.
The path-planning behavior was evaluated experimentally using a Summit mobile robot in an indoor environment.
The demonstration compares robot behavior when path geometry and achievable motion are considered during route selection.
This work supported research led by Dr. Jeong-woo Han. My contribution focused on the experimental implementation and physical validation of the path-planning approach using the Summit mobile-robot platform.