OBSTACLE AVOIDANCE FOR AUTONOMOUS MOBILE ROBOTS BASED ON POSITION PREDICTION USING FUZZY INFERENCE

被引：0

作者：

Suzuki, Takafumi ^{[1
]}

Takahashi, Masaki ^{[1
]}

机构：

[1] Keio Univ, Grad Sch Sci & Technol, Kohoku Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan

来源：

ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2: ROBOTICS AND AUTOMATION | 2009年

关键词：

Autonomous Mobile Robot; Obstacle Avoidance; Fuzzy Potential Method; Omni-directional Mobile Robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study presents an obstacle avoidance method for Autonomous Mobile Robot by Fuzzy Potential Method (FPM) considering velocities of obstacles relative to the robot. The FPM, which is presented by Tsuzaki, is action control method for autonomous mobile robot. In the proposed method, to decide a velocity vector command of the robot to avoid moving obstacles safely, Potential Membership Function (PMF) considering time until colliding and relative velocity is designed. By means of considering predicted positions of the robot and the obstacle calculated from the time and the relative velocity, the robot can start avoiding behaviour at an appropriate time according to the velocity of the obstacle and the robot. To verify the effectiveness of the proposed method, numerical simulations and simplified experiment intended for an omni-directional autonomous mobile robot are carried out.

引用

页码：299 / +

页数：2

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