Obstacle avoidance control on omnidirectional vehicle robots using range sensor

Akira Shimada, Prasarn Kiddee, Yujiro Nishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

There is a strong demand for intelligent vehicle robots in many fields. They are expected to assist in our daily lives. In order to implement them in practice, the robots should include useful functions such as path planning, navigation, and obstacle avoidance. This paper focuses on obstacle avoidance control techniques for multiple obstacles. The vehicle used as a platform is a mecanum wheel omnidirectional vehicle, which is driven on floors and includes a mounted scanner range sensor. The presented algorithm has the advantage of reducing multiple obstacle avoidance control to a single obstacle avoidance control scheme. Finally, experimental results are presented in order to evaluate the avoidance algorithms.

Original languageEnglish
Pages (from-to)58-68
Number of pages11
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume172
Issue number1
DOIs
Publication statusPublished - 2010 Jul 15

Keywords

  • Collision avoidance
  • Mecanum wheel
  • Omnidirectional vehicle
  • Scanner range sensor

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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