Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights

Ayanori Yorozu, Takafumi Suzuki, Tetsuya Matsumura, Masaki Takahashi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and rotational motion. Service robots which have been developed in recent years have arms to work and execute tasks. In these robots, the size of width is sometimes not equal to that of depth by heights. In order to avoid obstacles considering safety and mobility for the robots, it is necessary to evaluate shape of the robot and movable area by heights. To evaluate them, the robot model is defined by heights. Evaluating of the robot model and the movable area for each height, if the robot is unable to move keeping a safe distance from the obstacles, the robot determines the suitable orientation angle considering the minimum length from the center of the robot model to that outer shape. In this paper, the novel control method based on the fuzzy potential method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
出版社Springer Verlag
ページ91-100
ページ数10
VOL. 1
ISBN(印刷版)9783642339257
DOI
出版ステータスPublished - 2013
イベント12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
継続期間: 2012 6月 262012 6月 29

出版物シリーズ

名前Advances in Intelligent Systems and Computing
番号VOL. 1
193 AISC
ISSN(印刷版)2194-5357

Other

Other12th International Conference on Intelligent Autonomous Systems, IAS 2012
国/地域Korea, Republic of
CityJeju Island
Period12/6/2612/6/29

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

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