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.
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页码：569 / 576
页数：8
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