TY - GEN
T1 - Translational and rotational movement control considering width for autonomous mobile robot by using fuzzy inference
AU - Suzuki, Takafumi
AU - Takahashi, Masaki
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77951491151&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951491151&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420654
DO - 10.1109/ROBIO.2009.5420654
M3 - Conference contribution
AN - SCOPUS:77951491151
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 257
EP - 262
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -