Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot: 2 nd report: Robot model considering moving parts and evaluation of movable area by heights

Ayanori Yorozu, Takafumi Suzuki, Matsumura Tetsuya, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 length 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 in heights of each moving part. 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 publicationICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Pages451-454
Number of pages4
Publication statusPublished - 2012 Oct 26
Event9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012 - Rome, Italy
Duration: 2012 Jul 282012 Jul 31

Publication series

NameICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Volume2

Other

Other9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012
CountryItaly
CityRome
Period12/7/2812/7/31

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Keywords

  • Fuzzy potential method
  • Obstacle avoidance
  • Omnidirectional platform
  • Service robot

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

Cite this

Yorozu, A., Suzuki, T., Tetsuya, M., & Takahashi, M. (2012). Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot: 2 nd report: Robot model considering moving parts and evaluation of movable area by heights. In ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (pp. 451-454). (ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).