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

1 Citation (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 simulations and experiments using a real robot are carried out.

Original languageEnglish
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Pages5-13
Number of pages9
Publication statusPublished - 2011 Sep 14
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
Duration: 2011 Jul 282011 Jul 31

Publication series

NameICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Volume2

Other

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

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Keywords

  • Fuzzy potential method
  • Obstacle avoidance
  • Omni-directional platform
  • Service robot

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

Cite this

Takahashi, M., Suzuki, T., Matsumura, T., & Yorozu, A. (2011). Obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 5-13). (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).