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Dynamic Obstacle Avoidance with Simultaneous Translational and Rotational Motion Control for Autonomous Mobile Robot

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 174))

Abstract

This paper presents a real-time collision avoidance method with simultaneous control of both translational and rotational motion with consideration of a robot width for an autonomous omni-directional mobile robot. In the method, to take into consideration the robot’s size, a wide robot is regarded as a capsule-shaped case not a circle. With the proposed method, the wide robot can decide the direction of translational motion to avoid obstacles safely. In addition, the robot can decide the direction of the rotational motion in real time according to the situation to perform smooth motion. As an example of design method of the proposed method, novel control method based on the fuzzy potential method is proposed. To verify its effectiveness, several experiments using a real robot are carried out.

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Authors and Affiliations

  1. Dept. of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, 223-8522, Japan

    Masaki Takahashi, Takafumi Suzuki, Tetsuya Matsumura & Ayanori Yorozu

Authors
  1. Masaki Takahashi
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  2. Takafumi Suzuki
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  3. Tetsuya Matsumura
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  4. Ayanori Yorozu
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Corresponding author

Correspondence to Masaki Takahashi .

Editor information

Editors and Affiliations

  1. l’Ingénieur d’Angers (ISTIA), Labo. d’Ingénierie des Systémes, Institut des Sciences et Techniques de, avenue Notre Dame du Lac 62, Angers, 49000, France

    Jean-Louis Ferrier

  2. CNRS, UMR 6597, IRCCN, Ecole Centrale de Nantes, rue de la Noe 1, Nantes CX 03, 44321, France

    Alain Bernard

  3. Ford Research & Adv. Engineering, RIC Builidng, 2101 Village rd.,, Dearborn, 48124, Michigan, USA

    Oleg Gusikhin

  4. , Images, Signals and Intelligence, University Paris-Est Creteil (UPEC), LISSI EA 3956, Paris, 77127, France

    Kurosh Madani

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© 2013 Springer-Verlag Berlin Heidelberg

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Takahashi, M., Suzuki, T., Matsumura, T., Yorozu, A. (2013). Dynamic Obstacle Avoidance with Simultaneous Translational and Rotational Motion Control for Autonomous Mobile Robot. In: Ferrier, JL., Bernard, A., Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31353-0_4

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  • DOI: https://doi.org/10.1007/978-3-642-31353-0_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31352-3

  • Online ISBN: 978-3-642-31353-0

  • eBook Packages: EngineeringEngineering (R0)

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