Multi scale moving control method for autonomous omni-directional mobile robot

Masaki Takahashi, Takafumi Suzuki

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

7 Citations (Scopus)

Abstract

This paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.

Original languageEnglish
Title of host publicationICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
Pages449-452
Number of pages4
Publication statusPublished - 2009 Dec 1
EventICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics - Milan, Italy
Duration: 2009 Jul 22009 Jul 5

Publication series

NameICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
Volume2 RA

Other

OtherICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics
CountryItaly
CityMilan
Period09/7/209/7/5

Keywords

  • Collision avoidance
  • Hierarchical control
  • Omni-directional mobile robot
  • Service robots

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

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  • Cite this

    Takahashi, M., & Suzuki, T. (2009). Multi scale moving control method for autonomous omni-directional mobile robot. In ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings (pp. 449-452). (ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings; Vol. 2 RA).