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Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot Considering Shape of the Robot and Movable Area by Heights

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

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.

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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

    Ayanori Yorozu, Takafumi Suzuki, Tetsuya Matsumura & Masaki Takahashi

Authors
  1. Ayanori Yorozu
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  2. Takafumi Suzuki
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  3. Tetsuya Matsumura
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  4. Masaki Takahashi
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Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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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

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  • 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)

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