Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot - 2nd Report: Robot Model Considering Moving Parts and Evaluation of Movable Area by Heights

Ayanori Yorozu, Takafumi Suzuki, Matsumura Tetsuya, Masaki Takahashi

Abstract

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 length 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 in heights of each moving part. 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.

References

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Paper Citation


in Harvard Style

Yorozu A., Suzuki T., Tetsuya M. and Takahashi M. (2012). Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot - 2nd Report: Robot Model Considering Moving Parts and Evaluation of Movable Area by Heights . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 451-454. DOI: 10.5220/0004035804510454


in Bibtex Style

@conference{icinco12,
author={Ayanori Yorozu and Takafumi Suzuki and Matsumura Tetsuya and Masaki Takahashi},
title={Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot - 2nd Report: Robot Model Considering Moving Parts and Evaluation of Movable Area by Heights},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={451-454},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004035804510454},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot - 2nd Report: Robot Model Considering Moving Parts and Evaluation of Movable Area by Heights
SN - 978-989-8565-22-8
AU - Yorozu A.
AU - Suzuki T.
AU - Tetsuya M.
AU - Takahashi M.
PY - 2012
SP - 451
EP - 454
DO - 10.5220/0004035804510454