Obstacle avoidance for autonomous mobile robots based on position prediction using fuzzy inference

Takafumi Suzuki, Masaki Takahashi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This study presents an obstacle avoidance method for Autonomous Mobile Robot by Fuzzy Potential Method (FPM) considering velocities of obstacles relative to the robot. The FPM, which is presented by Tsuzaki, is action control method for autonomous mobile robot. In the proposed method, to decide a velocity vector command of the robot to avoid moving obstacles safely, Potential Membership Function (PMF) considering time until colliding and relative velocity is designed. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can start avoiding behaviour at an appropriate time according to the velocity of the obstacle and the robot. To verify the effectiveness of the proposed method, numerical simulations and simplified experiment intended for an omni-directional autonomous mobile robot are carried out.

本文言語English
ホスト出版物のタイトルICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
ページ299-304
ページ数6
出版ステータスPublished - 2009 12月 1
イベントICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics - Milan, Italy
継続期間: 2009 7月 22009 7月 5

出版物シリーズ

名前ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
2 RA

Other

OtherICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics
国/地域Italy
CityMilan
Period09/7/209/7/5

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学

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