測域センサを用いた全方向移動ロボットの障害物回避制御 [in Japanese] Obstacle Avoidance Control on Omnidirectional Vehicle Robots Using Range Sensor [in Japanese]
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Generally, intelligent vehicle robots are strongly needed in many fields. They are expected to assist our daily lives. In order to implement them in practice, we should mount useful functions including path planning, navigation, and obstacle avoidance, etc. on the robots. This paper focuses on obstacle avoidance control technique to multiple obstacles. The used vehicle as a platform is the mecanum wheel omnidirectional vehicle which is driven on floors and mounts a scanner range sensor. The presented algorithm has the feature that multiple obstacle avoidance control is simply come down to the mono-obstacle avoidance control scheme. Finally, the experimental results are shown in order to evaluate the presented algorithms.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 128(6), 849-856, 2008-06-01
The Institute of Electrical Engineers of Japan