TY - GEN
T1 - Obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot
AU - Takahashi, Masaki
AU - Suzuki, Takafumi
AU - Matsumura, Tetsuya
AU - Yorozu, Ayanori
PY - 2011/9/14
Y1 - 2011/9/14
N2 - 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.
AB - 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.
KW - Fuzzy potential method
KW - Obstacle avoidance
KW - Omni-directional platform
KW - Service robot
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M3 - Conference contribution
AN - SCOPUS:80052588715
SN - 9789898425751
T3 - ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
SP - 5
EP - 13
BT - ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
T2 - 8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
Y2 - 28 July 2011 through 31 July 2011
ER -