Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform

Table 4

Obstacle avoidance test of the robotic platform based on geometry based triggering distances.

	Motion direction			Motion direction			Motion direction			Motion direction
Triggering signal	Default		Triggering signal			Triggering signal			Triggering signal
	Test number	Evaluation		Test number	Evaluation		Test number	Evaluation		Test number	Evaluation
	1	●		1	⊗		1	●		1	●
	2	●		2	●		2	●		2	×
	3	●		3	●		3	●		3	●
	4	●		4	●		4	⊗		4	●
	5	●		5	×		5	●		5	⊗
Triggering signal			Triggering signal			Triggering signal			Triggering signal
	Test number	Evaluation		Test number	Evaluation		Test number	Evaluation		Test number	Evaluation
	1	×		1	×		1	●		1	●
	2	●		2	●		2	●		2	●
	3	●		3	●		3	●		3	●
	4	●		4	⊗		4	×		4	⊗
	5	●		5	●		5	●		5	●

● Completely avoids obstacles.
⊗ Closely clears obstacle.
× Collide.