Abstract
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.
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Recommended by Associate Editor Pinhas Ben-Tzvi under the direction of Editor Hyouk Ryeol Choi. This work was supported in part by Grant-in-Aid for Japan Society for the Promotion of Science Fellows Grant Number 25-5707 and Grant in Aid for the Global Center of Excellence Program for "Center for Education and Research of Symbiotic, Safe and Secure System Design" from the Ministry of Education, Culture, Sport, and Technology in Japan.
Ayanori Yorozu received his B.E. degree from the Department of System Design Engineering and M.E. degree in the School of Science for Open and Environmental Systems from Keio University, in 2011 and 2013. His research interests include mobile robot navigation and human tracking. He is a member of Japan Society of Mechanical Engineers and The Robotics Society of Japan.
Masaki Takahashi received hid B.E. and M.E. degrees from the Department of System Design Engineering at Keio University, in 2000 and 2002, respectively. He received the D.Eng. degree from Keio University, Yokohama, Japan, in 2004. In 2004, he started working as a Research Assistant of the 21st Century COE Program: “System Design: Paradigm shift from Intelligence to Life”. From 2005 to 2008, he worked as a Research Assistant of the Department of System Design Engineering, Keio University, Yokohama, Japan and became an Associate Professor in 2009. His primary research interests include human-robot interaction, motion and vibration control, and sensor fusion. He is a member of American Institute of Aeronautics and Astronautics, The Japan Society of Mechanical Engineers and The Robotics Society of Japan.
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Yorozu, A., Takahashi, M. Obstacle avoidance with translational and efficient rotational motion control considering movable gaps and footprint for autonomous mobile robot. Int. J. Control Autom. Syst. 14, 1352–1364 (2016). https://doi.org/10.1007/s12555-014-0452-2
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DOI: https://doi.org/10.1007/s12555-014-0452-2