Dynamic obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot

Masaki Takahashi, Takafumi Suzuki, Tetsuya Matsumura, Ayanori Yorozu

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper presents a real-time collision avoidance method with simultaneous control of both translational and rotational motion with consideration of a robot width for an autonomous omni-directional mobile robot. In the method, to take into consideration the robot's size, a wide robot is regarded as a capsule-shaped case not a circle. With the proposed method, the wide robot can decide the direction of translational motion to avoid obstacles safely. In addition, the robot can decide the direction of the rotational motion in real time according to the situation to perform smooth motion. As an example of design method of the proposed method, novel control method based on the fuzzy potential method is proposed. To verify its effectiveness, several experiments using a real robot are carried out.

本文言語English
ホスト出版物のタイトルInformatics in Control, Automation and Robotics - 8th International Conference, ICINCO 2011, Revised Selected Papers
ページ51-64
ページ数14
DOI
出版ステータスPublished - 2013 1月 1
イベント8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
継続期間: 2011 7月 282011 7月 31

出版物シリーズ

名前Lecture Notes in Electrical Engineering
174 LNEE
ISSN(印刷版)1876-1100
ISSN(電子版)1876-1119

Other

Other8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
国/地域Netherlands
CityNoordwijkerhout
Period11/7/2811/7/31

ASJC Scopus subject areas

  • 産業および生産工学

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