Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Collision Avoidance of a Mobile Robot Using Intelligent Force Control Algorithm Based on Robot Dynamics

동역학 기반의 지능 힘제어 방식을 이용한 이동 로봇의 장애물 회피에 대한 연구

  • 장은수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2004.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.

Keywords

References

  1. J. Borenstein, H. R. Everett, and L. Feng, 'Navigating Mobile Robots: System and Technique', A. K. Peters, 1996
  2. J. A. Castellanos and J. D. Tardos, 'Mobile Robot Localization and Map Building', Kluwer Academic Publishers, 1999
  3. Z. Xu, J. Liu, Z. Xiang, H. Li, 'Map Building for Indoor Environment with Laser Range Scanner', IEEE Intl. Conference on Intelligent Transportation Systems, pp. 136-140, 2002 https://doi.org/10.1109/ITSC.2002.1041202
  4. J. Borenstein and Y. Koren, 'The vector field histogram-fast obstacle avoidance for mobile robots', IEEE Trans. on Robotics and Automation, no. 3, pp. 278-298, 1991 https://doi.org/10.1109/70.88137
  5. Khatib, O., 1986, 'Real Time Obstacle Avoidance for Manipulators and Mobile Robots,' International Journal of Robotics Research, Vol. 5, No. 1, pp. 90-96 https://doi.org/10.1177/027836498600500106
  6. J. M. Lee 'Tangible Tele-operation of a Mobile Robot with Force-reflection', Sino-Korea Symposium on Intelligent System, pp. 88-93, 2003
  7. H. Haddad, M. Khatib, S. Lacroix and R. Chatila. 'Reactive Navigation in Outdoor Environments using Potential Fields', IEEE Intl. Conference on Robotics & Automation, pp. 1232-1237, 1998 https://doi.org/10.1109/ROBOT.1998.677268
  8. J. L. Martinez, A. Pozo-Ruz, 'Object Following and Obstacle Avoidance Using a Laser Scanner in the Outdoor Mobile Robot Auriga-Alpa', IEEE/RSJ Intl. Conference on Intelligent Robotics & Systems, pp. 204-209, 1998
  9. 전풍우, 정 슬, '장님 이동로봇의 힘제어 : 분석, 시뮬레이션 및 실험', 제어. 자동화. 시스템공학회 논문지, 제9권 10호, pp. 798-807, 2003년 10월
  10. M. Raibert and J. Craig, 'Hybrid Position/Force Control of Manipulators', ASME Journal. of Dynamic Systems, Measurements, and Control, vol. 102, pp. 126-133, 1981
  11. N. Hogan, 'Impedance Control : An Approach to Manipulator, Part i, ii, iii', ASME Journal of Dynamics Systems, Measurements, and Control, vol. 3, pp. 1-24, 1985
  12. 조현택, 정 슬, '속도추정 기반의 2 자유도 도립진자의 안정화를 위한 입력보상 방식의 분산 신경망 제어기에 관한 실험적 연구', Journal of Control, Automation, and Systems Engineering, 2004
  13. 정 슬, '인공지능시스템' 충남대학교 출판부 2004
  14. 정 슬, '로봇 공학: Matlab 및 SIMULINK 응용' 충남대학교 출판부, 2004
  15. N. Sarkar, X. Yun, and V. Kumar, 'Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots,' International Journal of Robotics Research, vol. 31, pp. 55-69, February, 1994 https://doi.org/10.1177/027836499401300104
  16. 황경훈, 'Dynamics Obstacle Avoidance using Fuzzy and AGPM for Trap Recovery of Mobile Robot', 성균관대 석사 학위 논문 2002