1A1-A24 Action Control Taking account of Moving Objects for an Autonomous Omni-directional Mobile Robot Using Extended Fuzzy Potential Method

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  • 1A1-A24 自律全方位移動ロボットの拡張ファジィポテンシャル法を用いた移動物体を考慮した行動制御(動作計画と制御の新展開)

Abstract

The respective autonomous mobile robots need to recognize the changes in the environment accurately to accomplish the tasks effectively. In order to realize that, it is significant to predict the movements of the surrounding obstacles. This study proposes a prediction method of the moving objects of the robot's surroundings. The method uses only the information from the sensors on the robot, and thereby can be applied to many kinds of autonomous mobile robots without path planning and self-localization. At first, this paper introduces a method that the robot can estimate moving objects velocity, position, and own velocity. In addition, this paper proposes a method which can control the autonomous mobile robots' behavior using the extended fuzzy potential method from the prediction results. The effectiveness of the method was verified by using the soccer robots of RoboCup Middle-Size-League.

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