scholarly journals Behavior Control of an Autonomous Mobile Robot in Dynamically Changing Environment.

1994 ◽  
Vol 12 (4) ◽  
pp. 583-589 ◽  
Author(s):  
Shun'ichi Asaka ◽  
Shigeki Ishikawa
1996 ◽  
Vol 8 (1) ◽  
pp. 81-92
Author(s):  
Shigeki Ishikawa ◽  
◽  
Shun’ichi Asaka

In this paper, we present a sensor-based navigation method for an autonomous mobile robot in a dynamically changing environment with stationary and moving obstacles. A navigation task needs to navigate a robot to a destination along a predefined path, and to avoid obstacles, if necessary. However, the environment is always changing, and sensory information is quite limited (actually, we have many limitations on sensory processing in connection with a dynamically changing environment). We have to describe an efficient navigation manner onto the robot using simple sensory information. The first step in our approach was to use fuzzy control. Based on results of experiments, we propose a new navigation method for an autonomous mobile robot in a dynamically changing environment. The method determines a steering angle and a velocity to be sent to a low-level locomotion system. Two major parts are involved in this operation: one is the task of tracing a planned path; and the other is the task of avoiding obstacles. The distribution weight between their outputs is determined with a range data and differential range data between samplings.


Author(s):  
Yoichiro Maeda ◽  
◽  
Wataru Shimizuhira ◽  

We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and calculation for measuring an object position and localization in an autonomous mobile robot. In identifying the robot’s location, we improved measurement accuracy by correcting the absolute location based on landmark measurement error in the origin of absolute coordinates. We propose omnidirectional behavior control for collision avoidance and object chasing using fuzzy reasoning in an autonomous mobile robot with MOVIS. We also report experimental results confirming the efficiency of our proposal using a RoboCup soccer robot in a dynamic environment.


2013 ◽  
Vol 133 (5) ◽  
pp. 502-509 ◽  
Author(s):  
Kouhei Komiya ◽  
Shunsuke Miyashita ◽  
Yutaka Maruoka ◽  
Yutaka Uchimura

Author(s):  
Márcio Mendonça ◽  
Guilherme Bender Sartori ◽  
Lucas Botoni de Souza ◽  
Giovanni Bruno Marquini Ribeiro

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