OBSTACLE AVOIDANCE WITH SIMULTANEOUS TRANSLATIONAL AND ROTATIONAL MOTION CONTROL FOR AUTONOMOUS MOBILE ROBOT

Masaki Takahashi, Takafumi Suzuki, Tetsuya Matsumura, Ayanori Yorozu

Abstract

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.

References

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Paper Citation


in Harvard Style

Takahashi M., Suzuki T., Matsumura T. and Yorozu A. (2011). OBSTACLE AVOIDANCE WITH SIMULTANEOUS TRANSLATIONAL AND ROTATIONAL MOTION CONTROL FOR AUTONOMOUS MOBILE ROBOT . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 5-13. DOI: 10.5220/0003443300050013


in Bibtex Style

@conference{icinco11,
author={Masaki Takahashi and Takafumi Suzuki and Tetsuya Matsumura and Ayanori Yorozu},
title={OBSTACLE AVOIDANCE WITH SIMULTANEOUS TRANSLATIONAL AND ROTATIONAL MOTION CONTROL FOR AUTONOMOUS MOBILE ROBOT},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={5-13},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003443300050013},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - OBSTACLE AVOIDANCE WITH SIMULTANEOUS TRANSLATIONAL AND ROTATIONAL MOTION CONTROL FOR AUTONOMOUS MOBILE ROBOT
SN - 978-989-8425-75-1
AU - Takahashi M.
AU - Suzuki T.
AU - Matsumura T.
AU - Yorozu A.
PY - 2011
SP - 5
EP - 13
DO - 10.5220/0003443300050013