Obstacle avoidance considering robot's size for an autonomous omni directional mobile robot by simultaneous control of translational and rotational motions

Takafumi Suzuki, Masaki Takahashi

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents a real time collision avoidance method considering robot's size for an autonomous omni-directional mobile robot by simultaneous control of translational and rotational motions. This method enables the robot, which the size of width is not equal to that of length, to avoid unknown obstacles safely and efficiently in real time. To consider the difference between the width and length of the robot, the Capsule Case is newly introduced. In order to achieve the simultaneous control, this method employs an omni-directional platform. As an example of design method of the proposed method, novel control method based on the Fuzzy Potential Method is proposed. To verify the effectiveness of the proposed method, several numerical simulations and experiments are carried out.

Original languageEnglish
Pages (from-to)3567-3576
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume76
Issue number772
Publication statusPublished - 2010 Dec

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Collision avoidance
Mobile robots
Robots
Computer simulation
Experiments

Keywords

  • Autonomous omnidirectional mobile robot
  • Fuzzy potential method
  • Obstacle avoidance
  • Reactive motion

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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AB - This paper presents a real time collision avoidance method considering robot's size for an autonomous omni-directional mobile robot by simultaneous control of translational and rotational motions. This method enables the robot, which the size of width is not equal to that of length, to avoid unknown obstacles safely and efficiently in real time. To consider the difference between the width and length of the robot, the Capsule Case is newly introduced. In order to achieve the simultaneous control, this method employs an omni-directional platform. As an example of design method of the proposed method, novel control method based on the Fuzzy Potential Method is proposed. To verify the effectiveness of the proposed method, several numerical simulations and experiments are carried out.

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