Control scheme for obstacle avoidance navigation of autonomous mobile robots

Author

Youn-Ho Choi ; Dong-Ha Lee

Author_Institution

Wellness Convergence Res. Center, Daegu Gyeongbuk Inst. of Sci. & Technol., Daegu, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

2256

Lastpage

2259

Abstract

So many kinds of control schemes for autonomous locomotive robots which maneuver the behavior of the robots and avoiding obstacles as the study on autonomous robots has been done are suggested. Autonomous mobile robots should establish a secure driving stability by determining the locations of the sensed obstacles around. In the paper, we will compare the moving characteristics of the autonomous mobile robots which have a fixed interrelation zone environment to the moving characteristics of the proposed interrelation zone which have a hysteresis band between the two zones. Autonomous mobile robots can decide there behaviors, by sensing obstacles in interrelation zone.

Keywords

collision avoidance; legged locomotion; stability; autonomous locomotive robots; autonomous mobile robots; driving stability; fixed interrelation zone environment; interrelation zone; moving characteristics; obstacle avoidance navigation control scheme; Hysteresis; Mobile robots; Navigation; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Machines and Systems (ICEMS), 2014 17th International Conference on

Conference_Location

Hangzhou

Type

conf

DOI

10.1109/ICEMS.2014.7013860

Filename

7013860