Obstacle avoidance with translational and efficient rotational motion control considering movable gaps and footprint for autonomous mobile robot
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- 作者：Ayanori Yorozu…
- 关键词：Autonomous mobile robot ; fuzzy set theory ; omnidirectional drive system ; sensor ; based real ; time obstacle avoidance
- 刊名：International Journal of Control, Automation and Systems
- 出版年：2016
- 出版时间：October 2016
- 年：2016
- 卷：14
- 期：5
- 页码：1352-1364
- 全文大小：5,078 KB
- 刊物类别：Engineering
- 刊物主题：Control Engineering
- 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
- ISSN：2005-4092
- 卷排序：14
文摘
This paper presents a sensor-based real-time obstacle avoidance method for an autonomous omnidirectional mobile robot based on simultaneous control of translational and efficient rotational motion considering movable gaps and the footprint. Autonomous mobile service robots that have been developed in recent years have arms that work and execute tasks. Depending on the task using moving parts, the shape of the robot (i.e., the footprint) changes. In this study, to improve the safety and possibility of reaching a goal even through a narrow gap with unknown obstacles, a sensor-based real-time obstacle avoidance method with simultaneous control of translational and efficient rotational motion (without unnecessary rotational motion) based on the evaluation of movable gaps and the footprint is proposed. To take account of the anisotropy footprint of the robot, multiple-circle robot model is proposed. In this paper, a novel control method based on fuzzy set theory is presented. To verify the effectiveness of the proposed method, several simulations and experiments are carried out.