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Authors: Masaki Takahashi ; Takafumi Suzuki ; Tetsuya Matsumura and Ayanori Yorozu

Affiliation: Keio University, Japan

ISBN: 978-989-8425-75-1

Keyword(s): Service Robot, Obstacle Avoidance, Omni-directional Platform, Fuzzy Potential Method.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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

@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},
}

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

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