Authors:
Ayanori Yorozu
;
Takafumi Suzuki
;
Matsumura Tetsuya
and
Masaki Takahashi
Affiliation:
Keio University, Japan
Keyword(s):
Service Robot, Obstacle Avoidance, Omnidirectional Platform, Fuzzy Potential Method.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
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 M
ethod is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.
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