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 depth 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 by heights. 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 method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Tiejun, Z., Dalong, T., Mingyang, Z.: The Development of a Mobile Humanoid Robot with Varying Joint Stiffness Waist. In: Proc. IEEE Int. Conf. Mechatronics and Automation, vol. 3, pp. 1402–1407 (2005)
Evans, J.M.: HelpMate: An Autonomous Mobile Robot Courier for Hospitals. In: IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems, vol. 3, pp. 1695–1700 (1994)
Krishnamurthy, B., Evans, J.: HelpMate: A Robotic Courier for Hospital Use. In: IEEE Int. Conf. on Systems, Man and Cybernetics, vol. 2, pp. 1630–1634 (1992)
Kuindersma, S., Hannigan, E., Ruiken, D., Grupen, R.: MINERVA: Dexterous Mobility with the uBot-5 Mobile Manipulator. In: Proc. IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 1999–2005 (1999)
Mehling, J.S., Strawser, P., Bridgwater, L., Verdeyen, W.K., Rovekamp, R.: Centaur: NASA’s Mobile Humanoid Designed for Field Work. In: IEEE Int. Conf. on Robotics and Automation, pp. 2928–2933 (2007)
Borenstein, J., Koren, Y.: The Vector Field Histogram Fast Obstacle Avoidance for Mobile Robots. IEEE Trans. on Robotics and Automation 7(3), 278–288 (1991)
Fox, D., Burgard, W., Thrun, S.: The Dynamic Window Approach to Collision Avoidance. IEEE Robotics and Automation 4(1), 23–33 (1997)
Minguez, J., Montano, L.: Nearness Diagram (ND) Navigation: Collision Avoidance in Troublesome Scenarios. IEEE Trans. on Robotics and Automation 20(1), 45–59 (2004)
Kavraki, L.: Computation of Configuration Space Obstacles Using the Fast Fourier Transform. IEEE Trans. on Robotics and Automation 11(3), 408–413 (1995)
Wang, Y., Chirikjian, G.S.: A New Potential Field Method for Robot Path Planning. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 977–982 (2000)
Suzuki, T., Takahashi, M.: Translational and Rotational Motion Control Considering Width for Autonomous Mobile Robots Using Fuzzy Interence. Numerical Analysis – Theory and Application. InTech Book (2011) ISBN 978-953-307-389-7
Tsuzaki, R., Yoshida, K.: Motion Control Based on Fuzzy Potential Method for Autonomous Mobile Robot with Omnidirectional Vision. J. of the Robotics Society of Japan 21(6), 656–662 (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Yorozu, A., Suzuki, T., Matsumura, T., Takahashi, M. (2013). Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot Considering Shape of the Robot and Movable Area by Heights. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_8
Download citation
DOI: https://doi.org/10.1007/978-3-642-33926-4_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33925-7
Online ISBN: 978-3-642-33926-4
eBook Packages: EngineeringEngineering (R0)