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 language | English |
|---|---|
| Title of host publication | Advances in Intelligent Systems and Computing |
| Pages | 91-100 |
| Number of pages | 10 |
| Volume | 193 AISC |
| Edition | VOL. 1 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of Duration: 2012 Jun 26 → 2012 Jun 29 |
Publication series
| Name | Advances in Intelligent Systems and Computing |
|---|---|
| Number | VOL. 1 |
| Volume | 193 AISC |
| ISSN (Print) | 21945357 |
Other
| Other | 12th International Conference on Intelligent Autonomous Systems, IAS 2012 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju Island |
| Period | 12/6/26 → 12/6/29 |
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Keywords
- Autonomous mobile robot
- Fuzzy potential method
- Obstacle avoidance
- Omnidirectional platform
ASJC Scopus subject areas
- Computer Science(all)
- Control and Systems Engineering
Cite this
Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights. / Yorozu, Ayanori; Suzuki, Takafumi; Matsumura, Tetsuya; Takahashi, Masaki.
Advances in Intelligent Systems and Computing. Vol. 193 AISC VOL. 1. ed. 2013. p. 91-100 (Advances in Intelligent Systems and Computing; Vol. 193 AISC, No. VOL. 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
UR - http://www.scopus.com/inward/record.url?scp=84872762375&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872762375&partnerID=8YFLogxK
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
VL - 193 AISC
T3 - Advances in Intelligent Systems and Computing
SP - 91
EP - 100
BT - Advances in Intelligent Systems and Computing
ER -