A quick intelligent control system for a mobile robot to avoid collision with moving obstacles

被引：1
|
作者：
Yang, WH
Watanuki, K
Zhao, S
机构：
[1] Saitama Univ, Fac Engn, Dept Mech Engn, Sakyo Ku, Saitama 3388570, Japan
[2] Minebea Co Ltd, Omori Unit, Ota Ku, Tokyo 1438543, Japan
来源：
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS | 2005年 / 11卷 / 8-10期
关键词：
Membership Function; Fuzzy Rule; Collision Avoidance; Avoidance Action; Ultrasonic Sensor;
D O I：
10.1007/s00542-005-0556-y
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes a concept of initial minimum safety spacing (IMSS) for a robot to avoid the collision with moving obstacles from any direction. A quick intelligent control system based on IMSS to avoid the collision is presented. In the system, the necessary deceleration and steering can be predicted using the fuzzy reasoning, which only needs to input one variable of the collision danger degree judged according to IMSS. So, the membership functions and the fuzzy rules are very simple, the calculation time for the avoidance is reduced. These advantages are verified by the numerical simulation results.
引用
收藏
页码：569 / 576
页数：8
相关论文
共 50 条
  • [1] A quick intelligent control system for a mobile robot to avoid collision with moving obstacles
    Weihong Yang
    Keiichi Watanuki
    Shen Zhao
    Microsystem Technologies, 2005, 11 : 1310 - 1310
  • [2] A quick intelligent control system for a mobile robot to avoid collision with moving obstacles
    Weihong Yang
    Keiichi Watanuki
    Shen Zhao
    Microsystem Technologies, 2005, 11 : 569 - 576
  • [3] A quick intelligent control system for a mobile robot to avoid collision with moving obstacles (vol 11, pg 569, 2005)
    Yang, WH
    Watanuki, K
    Zhao, S
    MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS, 2005, 11 (12): : 1310 - 1310
  • [4] Decentralized Control for Intelligent Robot System to Avoid Moving Obstacles
    Lim, Yongsub
    Jung, Kyomin
    FOURTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS, MODELLING AND SIMULATION (ISMS 2013), 2013, : 61 - 66
  • [5] REALIZATION OF A 3D VISION MOBILE ROBOT THAT CAN AVOID COLLISION WITH MOVING OBSTACLES
    TAKENO, J
    MIZUGUCHI, N
    SORIMACHI, K
    ROBOTERSYSTEME, 1992, 8 (01): : 1 - 12
  • [6] New Moving Control of Mobile Robot without Collision with Wall and Obstacles by Passive RFID System
    Tatsukawa, Sho
    Nakanishi, Tadashi
    Nagao, Ryo
    Wada, Tomotaka
    Fujimoto, Manato
    Mutsuura, Kouichi
    2015 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN), 2015,
  • [7] A New Method for Mobile Robots to Avoid Collision with Moving Obstacles
    Zhu, Yi
    Zhang, Tao
    Song, Jingyan
    Li, Xiaqin
    Nakamura, Masatoshi
    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11), 2011, : 529 - 532
  • [8] Collision avoidance of a mobile robot for moving obstacles based on impedance force control algorithm
    Jang, ES
    Jung, S
    Hsia, TC
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 277 - 282
  • [9] On-line collision avoidance of mobile robot for dynamically moving obstacles
    Ushimi, N
    Yamamoto, M
    Shimada, M
    Mohri, A
    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5, 2002, : 257 - 266
  • [10] Acquisition of optimal action selection to avoid moving obstacles in autonomous mobile robot
    Aoki, T
    Oka, T
    Suzuki, T
    Okuma, S
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 2055 - 2060
12345