Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights

Ayanori Yorozu, Takafumi Suzuki, Tetsuya Matsumura, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PublisherSpringer Verlag
Pages91-100
Number of pages10
EditionVOL. 1
ISBN (Print)9783642339257
DOIs
Publication statusPublished - 2013 Jan 1
Event12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
Duration: 2012 Jun 26 → 2012 Jun 29

Publication series

NameAdvances in Intelligent Systems and Computing
NumberVOL. 1
Volume193 AISC
ISSN (Print)2194-5357

Other

Other12th International Conference on Intelligent Autonomous Systems, IAS 2012
CountryKorea, Republic of
CityJeju Island
Period12/6/26 → 12/6/29

Keywords

  • Autonomous mobile robot
  • Fuzzy potential method
  • Obstacle avoidance
  • Omnidirectional platform

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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    Yorozu, A., Suzuki, T., Matsumura, T., & Takahashi, M. (2013). Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012 (VOL. 1 ed., pp. 91-100). (Advances in Intelligent Systems and Computing; Vol. 193 AISC, No. VOL. 1). Springer Verlag. https://doi.org/10.1007/978-3-642-33926-4_8