Obstacle Avoidance Considering Robot's Size for an Autonomous Omni-Directional Mobile Robot by Simultaneous Control of Translational and Rotational Motions(Mechanical Systems)
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- SUZUKI Takafumi
- 慶應義塾大学大学院理工学研究科
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- TAKAHASHI Masaki
- Faculty of Science and Technology, Keio University
Bibliographic Information
- Other Title
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- 自律全方位移動ロボットの並進と回転の同時制御によるロボットサイズを考慮した障害物回避(機械力学,計測,自動制御)
- 自律全方位移動ロボットの並進と回転の同時制御によるロボットサイズを考慮した障害物回避
- ジリツ ゼンホウイ イドウ ロボット ノ ヘイシン ト カイテン ノ ドウジ セイギョ ニ ヨル ロボット サイズ オ コウリョシタ ショウガイブツ カイヒ
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Abstract
This paper presents a real time collision avoidance method considering robot's size for an autonomous omni-directional 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 efficiently in real time. 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 design method of the proposed method, novel control method based on the Fuzzy Potential Method is proposed. To verify the effectiveness of the proposed method, several numerical simulations and experiments are carried out.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 76 (772), 3567-3576, 2010
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282681364471808
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- NII Article ID
- 110008006869
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 10939546
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed