Translational and Rotational Movement Control Considering Width for Autonomous Mobile Robot by Using Fuzzy Inference

摘要：

This paper presents a real time collision avoidance method considering robots size for an autonomous omnidirectional mobile robot by simultaneous control of translational and rotational motions. This method enables the robot, which the size of width is not equal to that of length, to avoid unknown obstacles safely and ef.ciently. To consider the difference between the width and length of the robot, the Capsule Case is newly introduced. In order to achieve the simultaneous control, this method employs an omni-directional platform. As an example of the design of proposed method, novel control method based on the Fuzzy Potential Method (FPM) is proposed. To test the effectiveness of the proposed method, several numerical simulations are carried out.

作者: Takafumi Suzuki Masaki Takahashi

作者单位: School of Science for Open and Environmental Systems,Keio University,3-14-1,Hiyoshi,Kohoku-ku,Yokoha Department of System Design Engineering,Keio University,3-14-1,Hiyoshi,Kohoku-ku,Yokohama 223-8522,J

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 257-262

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）