Translational and rotational movement control considering width for autonomous mobile robot by using fuzzy inference

Takafumi Suzuki, Masaki Takahashi

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

4 Citations (Scopus)

Abstract

This paper presents a real time collision avoidance method considering robot's size for an autonomous omni-directional mobile robot by simultaneous control of translational and rotational motions. This method enables the robot, which the size of width is not equal to that of length, to avoid unknown obstacles safely and efficiently. To consider the difference between the width and length of the robot, the Capsule Case is newly introduced. In order to achieve the simultaneous control, this method employs an omni-directional platform. As an example of the design of proposed method, novel control method based on the Fuzzy Potential Method (FPM) is proposed. To test the effectiveness of the proposed method, several numerical simulations are carried out.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages257-262
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 2009 Dec 192009 Dec 23

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period09/12/1909/12/23

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Biomaterials

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  • Cite this

    Suzuki, T., & Takahashi, M. (2009). Translational and rotational movement control considering width for autonomous mobile robot by using fuzzy inference. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 257-262). [5420654] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420654