TY - GEN
T1 - Simultaneous control of translational and rotational motion for autonomous omnidirectional mobile robot
T2 - 9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012
AU - Yorozu, Ayanori
AU - Suzuki, Takafumi
AU - Tetsuya, Matsumura
AU - Takahashi, Masaki
PY - 2012/10/26
Y1 - 2012/10/26
N2 - 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.
AB - 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.
KW - Fuzzy potential method
KW - Obstacle avoidance
KW - Omnidirectional platform
KW - Service robot
UR - http://www.scopus.com/inward/record.url?scp=84867734024&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867734024&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84867734024
SN - 9789898565211
T3 - ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
SP - 451
EP - 454
BT - ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Y2 - 28 July 2012 through 31 July 2012
ER -