By Topic

Translational and rotational movement control considering width for autonomous mobile robot by using fuzzy inference

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Suzuki, T. ; Sch. of Sci. for Open & Environ. Syst., Keio Univ., Yokohama, Japan ; Takahashi, M.

This paper presents a real time collision avoidance method considering robot's 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 efficiently. 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.

Published in:

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Date of Conference:

19-23 Dec. 2009