Control of a mobile robot and collision avoidance using navigation function - experimental verification

2015 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Experimental Verification ◽  
Navigation Function

scholarly journals Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

2016 ◽  
Vol 85 (3-4) ◽  
pp. 539-552 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Experimental Verification ◽  
Control Method ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Navigation Function ◽  
Mobile Robot Control ◽  
Good Potential ◽  
Point Control ◽  
Robot Position

AbstractThis paper presents the results of an experimental verification of mobile robot control algorithm including obstacle detection and avoidance. The controller is based on the navigation potential function that was proposed in work (Urakubo, Nonlinear Dyn. 81(3), 1475–1487 2015). Conducted experiments considered the task of reaching and stabilization of robot in point. The navigation potential agregates information of robot position and orientation but also the repelling potentials of obstacles. The obstacle detection is performed solely with the use of laser scanner. The experiments show that the method can easily handle environments with one or two obstacles even if they instantly hide or show-up due to the scanner range limits. The experiments also indicate that the utilized control method has a good potential for being used in parallel parking task.

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance

2021 ◽  
Vol 33 (1) ◽  
pp. 33-43
Author(s):  
Kazuhiro Funato ◽  
Ryosuke Tasaki ◽  
Hiroto Sakurai ◽  
Kazuhiko Terashima ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Sensor Fusion ◽  
Experimental Verification ◽  
Inertial Measurement Unit ◽  
Tracking System ◽  
Measurement Unit ◽  
Laser Range Finder ◽  
Range Finder ◽  
Inertial Measurement ◽  
Laser Range

The authors have been developing a mobile robot to assist doctors in hospitals in managing medical tools and patient electronic medical records. The robot tracks behind a mobile medical worker while maintaining a constant distance from the worker. However, it was difficult to detect objects in the sensor’s invisible region, called occlusion. In this study, we propose a sensor fusion method to estimate the position of a robot tracking target indirectly by an inertial measurement unit (IMU) in addition to the direct measurement by an laser range finder (LRF) and develop a human tracking system to avoid occlusion by a mobile robot. Based on this, we perform detailed experimental verification of tracking a specified person to verify the validity of the proposed method.

scholarly journals Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881263 ◽  
Author(s):  
Paul Quillen ◽  
Kamesh Subbarao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Control Effort ◽  
Control Approach ◽  
Navigation Function ◽  
Guidance Law ◽  
High Level

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

Evolutionary Univector Field-based Navigation with Collision Avoidance for Mobile Robot

2008 ◽  
Vol 41 (2) ◽  
pp. 12787-12792 ◽  
Author(s):  
Yusun Lim ◽  
Seung-Hwan Choi ◽  
Jong-Hwan Kim ◽  
Dong-Han Kim
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance
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