A quick intelligent control system for a mobile robot to avoid collision with moving obstacles

被引：1
|
作者：
Yang, WH
Watanuki, K
Zhao, S
机构：
[1] Saitama Univ, Fac Engn, Dept Mech Engn, Sakyo Ku, Saitama 3388570, Japan
[2] Minebea Co Ltd, Omori Unit, Ota Ku, Tokyo 1438543, Japan
来源：
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS | 2005年 / 11卷 / 8-10期
关键词：
Membership Function; Fuzzy Rule; Collision Avoidance; Avoidance Action; Ultrasonic Sensor;
D O I：
10.1007/s00542-005-0556-y
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes a concept of initial minimum safety spacing (IMSS) for a robot to avoid the collision with moving obstacles from any direction. A quick intelligent control system based on IMSS to avoid the collision is presented. In the system, the necessary deceleration and steering can be predicted using the fuzzy reasoning, which only needs to input one variable of the collision danger degree judged according to IMSS. So, the membership functions and the fuzzy rules are very simple, the calculation time for the avoidance is reduced. These advantages are verified by the numerical simulation results.
引用
收藏
页码：569 / 576
页数：8
相关论文
共 49 条
  • [1] A quick intelligent control system for a mobile robot to avoid collision with moving obstacles
    Weihong Yang
    Keiichi Watanuki
    Shen Zhao
    Microsystem Technologies, 2005, 11 : 569 - 576
  • [2] Collision avoidance of a mobile robot for moving obstacles based on impedance force control algorithm
    Jang, ES
    Jung, S
    Hsia, TC
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 277 - 282
  • [3] Navigation of mobile robots with collision avoidance for moving obstacles
    Fujimori, A
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2005, 219 (I1) : 99 - 110
  • [4] A navigation of mobile robots with collision avoidance for moving obstacles
    Fujimori, A
    Tani, S
    IEEE ICIT' 02: 2002 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS I AND II, PROCEEDINGS, 2002, : 1 - 6
  • [5] Robust Collision Avoidance for Mobile Robots in the Presence of Moving Obstacles
    Ricardo Jr, Jorge A. A.
    Santos, Davi A.
    IEEE CONTROL SYSTEMS LETTERS, 2023, 7 : 1584 - 1589
  • [6] Study on Intelligent Control System of Autonomous Mobile Robot
    Sun, Jie
    Feng, Min
    Gong, Ruikun
    2012 2ND INTERNATIONAL CONFERENCE ON APPLIED ROBOTICS FOR THE POWER INDUSTRY (CARPI), 2012, : 92 - 94
  • [7] Collision avoidance of a mobile robot using intelligent hybrid force control technique
    Jung, S
    Jang, ES
    Hsia, TC
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 4418 - 4423
  • [8] Control laws to avoid collision with three dimensional obstacles using sensors
    Kim, Jonghoek
    OCEAN ENGINEERING, 2019, 172 : 342 - 349
  • [9] Practical Control for Multicopters to Avoid Non-Cooperative Moving Obstacles
    Quan, Quan
    Fu, Rao
    Cai, Kai-Yuan
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (08) : 10839 - 10857
  • [10] Mobile robot position control in environment with static obstacles
    Giannousakis, Konstantinos
    Tzes, Anthony
    IET CYBER-SYSTEMS AND ROBOTICS, 2020, 2 (02) : 78 - 87
12345