TY - GEN
T1 - Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights
AU - Yorozu, Ayanori
AU - Suzuki, Takafumi
AU - Matsumura, Tetsuya
AU - Takahashi, Masaki
PY - 2013
Y1 - 2013
N2 - This paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and rotational motion. Service robots which have been developed in recent years have arms to work and execute tasks. In these robots, the size of width is sometimes not equal to that of depth by heights. In order to avoid obstacles considering safety and mobility for the robots, it is necessary to evaluate shape of the robot and movable area by heights. To evaluate them, the robot model is defined by heights. Evaluating of the robot model and the movable area for each height, if the robot is unable to move keeping a safe distance from the obstacles, the robot determines the suitable orientation angle considering the minimum length from the center of the robot model to that outer shape. In this paper, the novel control method based on the fuzzy potential method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.
AB - This paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and rotational motion. Service robots which have been developed in recent years have arms to work and execute tasks. In these robots, the size of width is sometimes not equal to that of depth by heights. In order to avoid obstacles considering safety and mobility for the robots, it is necessary to evaluate shape of the robot and movable area by heights. To evaluate them, the robot model is defined by heights. Evaluating of the robot model and the movable area for each height, if the robot is unable to move keeping a safe distance from the obstacles, the robot determines the suitable orientation angle considering the minimum length from the center of the robot model to that outer shape. In this paper, the novel control method based on the fuzzy potential method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.
KW - Autonomous mobile robot
KW - Fuzzy potential method
KW - Obstacle avoidance
KW - Omnidirectional platform
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U2 - 10.1007/978-3-642-33926-4_8
DO - 10.1007/978-3-642-33926-4_8
M3 - Conference contribution
AN - SCOPUS:84872762375
SN - 9783642339257
T3 - Advances in Intelligent Systems and Computing
SP - 91
EP - 100
BT - Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PB - Springer Verlag
T2 - 12th International Conference on Intelligent Autonomous Systems, IAS 2012
Y2 - 26 June 2012 through 29 June 2012
ER -