TY - GEN
T1 - Obstacle avoidance for autonomous mobile robots based on position prediction using fuzzy inference
AU - Suzuki, Takafumi
AU - Takahashi, Masaki
PY - 2009/12/1
Y1 - 2009/12/1
N2 - This study presents an obstacle avoidance method for Autonomous Mobile Robot by Fuzzy Potential Method (FPM) considering velocities of obstacles relative to the robot. The FPM, which is presented by Tsuzaki, is action control method for autonomous mobile robot. In the proposed method, to decide a velocity vector command of the robot to avoid moving obstacles safely, Potential Membership Function (PMF) considering time until colliding and relative velocity is designed. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can start avoiding behaviour at an appropriate time according to the velocity of the obstacle and the robot. To verify the effectiveness of the proposed method, numerical simulations and simplified experiment intended for an omni-directional autonomous mobile robot are carried out.
AB - This study presents an obstacle avoidance method for Autonomous Mobile Robot by Fuzzy Potential Method (FPM) considering velocities of obstacles relative to the robot. The FPM, which is presented by Tsuzaki, is action control method for autonomous mobile robot. In the proposed method, to decide a velocity vector command of the robot to avoid moving obstacles safely, Potential Membership Function (PMF) considering time until colliding and relative velocity is designed. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can start avoiding behaviour at an appropriate time according to the velocity of the obstacle and the robot. To verify the effectiveness of the proposed method, numerical simulations and simplified experiment intended for an omni-directional autonomous mobile robot are carried out.
KW - Autonomous mobile robot
KW - Fuzzy potential method
KW - Obstacle avoidance
KW - Omni-directional mobile robot
UR - http://www.scopus.com/inward/record.url?scp=74549208126&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=74549208126&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:74549208126
SN - 9789898111999
T3 - ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
SP - 299
EP - 304
BT - ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings
T2 - ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics
Y2 - 2 July 2009 through 5 July 2009
ER -