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Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique

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3 Author(s)
Seul Jung ; Department of Mechatronics Engineering Chungnam National University Daejeon, KOREA 305-764; jungs@cnu.ac.kr ; Eun Soo Jang ; Hsia, T.C.

In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005

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