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

1 引用 (Scopus)

抜粋

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 simulations and experiments using a real robot are carried out.

元の言語English
ホスト出版物のタイトルICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
ページ5-13
ページ数9
出版物ステータスPublished - 2011 9 14
イベント8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
継続期間: 2011 7 282011 7 31

出版物シリーズ

名前ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
2

Other

Other8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
Netherlands
Noordwijkerhout
期間11/7/2811/7/31

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

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  • これを引用

    Takahashi, M., Suzuki, T., Matsumura, T., & Yorozu, A. (2011). Obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot. : ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 5-13). (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; 巻数 2).