MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT

Masaki Takahashi, Takafumi Suzuki

Abstract

This paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.

References

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Paper Citation


in Harvard Style

Takahashi M. and Suzuki T. (2009). MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 449-452. DOI: 10.5220/0002217004490452


in Bibtex Style

@conference{icinco09,
author={Masaki Takahashi and Takafumi Suzuki},
title={MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={449-452},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002217004490452},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT
SN - 978-989-674-000-9
AU - Takahashi M.
AU - Suzuki T.
PY - 2009
SP - 449
EP - 452
DO - 10.5220/0002217004490452