Collision and Turnover Avoidance of Mobile Robots with Force Reflection
نویسندگان
چکیده
Collision and turnover are fatal to mobile robots. Control methods are suggested for solving the fatal problems of mobile robots maneuvered by an operator. Speed reduction and wall following are applied for collision avoidance using ultrasonic sensor data. Modified Hough transform is suggested to obtain a wall model from sonar data overcoming limitations of ultrasonic sensors. The robot is also controlled by constraints of turnover using front terrain data. To predict the data about front terrain, a low-cost terrain sensor module is developed. Besides, to recognize the robot movement controlled for guaranteeing safety, a force reflection technique is applied. Copyright © 2005 IFAC
منابع مشابه
Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملMobile Robot Collision Avoidance in Human Environments
Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles) with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algo...
متن کاملCooperative collision avoidance between multiple mobile robots
This paper presents a new collision avoidance technique, called cooperative collision avoidance, for multiple mobile robots. The detection of the danger of collision between two mobile robots is discussed with respect to the geometric aspects of their paths as are cooperative collision avoidance behaviors. The direction control command and the velocity control command for the cooperative collis...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملCollision Avoidance and Handling for a Mobile Manipulator
In general service robots move autonomously in partially known environments. This paper proposes a collision avoidance and collision handling scheme to move through such working areas. Both schemes are implemented in a single paradigm: artificial and measured forces are combined, resulting in force/torque vectors. The force/torque vectors are superimposed and the robot’s joint velocities are de...
متن کامل