Dynamic obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot

Masaki Takahashi, Takafumi Suzuki, Tetsuya Matsumura, Ayanori Yorozu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper presents a real-time collision avoidance method with simultaneous control of both translational and rotational motion with consideration of a robot width for an autonomous omni-directional mobile robot. In the method, to take into consideration the robot's size, a wide robot is regarded as a capsule-shaped case not a circle. With the proposed method, the wide robot can decide the direction of translational motion to avoid obstacles safely. In addition, the robot can decide the direction of the rotational motion in real time according to the situation to perform smooth motion. As an example of design method of the proposed method, novel control method based on the fuzzy potential method is proposed. To verify its effectiveness, several experiments using a real robot are carried out.

Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics - 8th International Conference, ICINCO 2011, Revised Selected Papers
Pages51-64
Number of pages14
DOIs
Publication statusPublished - 2013 Jan 1
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
Duration: 2011 Jul 282011 Jul 31

Publication series

NameLecture Notes in Electrical Engineering
Volume174 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
CountryNetherlands
CityNoordwijkerhout
Period11/7/2811/7/31

Keywords

  • Fuzzy Potential Method
  • Obstacle Avoidance
  • Omni-directional Platform
  • Service Robot

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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  • Cite this

    Takahashi, M., Suzuki, T., Matsumura, T., & Yorozu, A. (2013). Dynamic obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot. In Informatics in Control, Automation and Robotics - 8th International Conference, ICINCO 2011, Revised Selected Papers (pp. 51-64). (Lecture Notes in Electrical Engineering; Vol. 174 LNEE). https://doi.org/10.1007/978-3-642-31353-0_4