Obstacle Avoidance Control on Omnidirectional Vehicle Robots Using Range Sensor

• Shimada Akira

  Dept. of Electrical System Engineering, Polytechnic University

• Kiddee Prasarn

  Dept. of Electrical System Engineering, Polytechnic University

• Nishi Yujiro

  Faculty of Engineering, Kyushu University

Bibliographic Information

Other Title

• 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
• ソクイキ センサ オ モチイタ ゼンホウコウ イドウ ロボット ノ ショウガイブツ カイヒ セイギョ

Abstract

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.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 128 (6), 849-856, 2008

  The Institute of Electrical Engineers of Japan

Keywords

• omnidirectional vehicle
• mecanum wheel
• collision avoidance
• scanner range sensor

Details

• CRID: 1390001204659068288
• NII Article ID: 10021134705
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.128.849
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 9532654
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9532654
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/128/6/128_6_849/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed