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

Takafumi Suzuki; Masaki Takahashi

doi:10.1109/ROBIO.2009.5420654

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

Takafumi Suzuki, Masaki Takahashi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	257-262
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420654
Publication status	Published - 2009 Dec 1
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 2009 Dec 19 → 2009 Dec 23

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	09/12/19 → 09/12/23

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Biomaterials

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10.1109/ROBIO.2009.5420654

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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

Translational and rotational movement control considering width for autonomous mobile robot by using fuzzy inference. / Suzuki, Takafumi; Takahashi, Masaki.

2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 257-262 5420654 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

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

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., 5420654, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 257-262, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 09/12/19. https://doi.org/10.1109/ROBIO.2009.5420654

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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.",

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

Abstract

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