Motion Control of Indoor Mobile Robots for Safe navigation in Cluttered Environment

In various environments of service, collision avoidance of mobile robot is basic problem. High speed navigation increases the efficiency of services. However, if navigation speed of mobile robot increases, various problems arise. Using the uncertainty of robot motion, the method for avoiding collision can make robot navigate safely. By applying the robot motion uncertainty, we perform experiments of robot's collision avoidance performance under different velocity control strategies. We propose the navigation method considering the uncertainty of robot motion. To verify the performance of proposed method, experiments are performed. In the experiments, two robots are considered. One has more precise performance of velocity control than the other. As a result, the proposed method shows safe navigation results in cluttered environment, though the conventional control method may cause the collision with obstacles. Finally, we verify the effectiveness of the proposed method through several experiments.