DocumentCode
348760
Title
Obstacle avoidance for mobile robot considering limitation of motion (steering and variable speed method for power-wheeled-steering-type robot)
Author
Dozono, Y. ; Tsushima, K.
Author_Institution
Mech. Eng. Res. Lab., Hitachi Ltd., Ibaraki, Japan
Volume
4
fYear
1999
fDate
1999
Firstpage
704
Abstract
We have developed an obstacle avoidance method for a power-wheeled-steering-type robot, taking the limitation of the motion into consideration. In this method, the pattern of acceleration of the drive wheel is defined according to the mechanical restriction of the motion and the response of the actuators to move the robot, so the robot can follow the planned motion for avoiding obstacles. The effectiveness of this method is shown by simulation
Keywords
acceleration; collision avoidance; electric actuators; mobile robots; acceleration; actuators; drive wheel; mechanical restriction; mobile robot; motion limitation; obstacle avoidance method; planned motion; power-wheeled-steering-type robot; variable speed method; Acceleration; Actuators; Angular velocity; Drives; Gears; Mechanical sensors; Mobile robots; Robot sensing systems; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location
Tokyo
ISSN
1062-922X
Print_ISBN
0-7803-5731-0
Type
conf
DOI
10.1109/ICSMC.1999.812490
Filename
812490
Link To Document