929 移動障害物の運動状況を考慮した自律移動物体の衝突回避最小安全距離の解析

概要

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It is important for a robot to avoid collision with obstacles during its moving to a goal and a quick response is required if the obstacles are moving. This paper analyzes the kinematics of the robot and the obstacle moving toward the robot in any direction, and the conditions to avoid the collision. The initial minimum safety spacing between the robot and the obstacle is discussed, which depends on the velocities and the relative positions of the robot and the obstacle, and it is simulated to demonstrate the results. These results can be used to decrease the number of membership functions and fuzzy rules so that the calculation time of the robot using fuzzy control for real-time obstacle avoidance can be reduced, since the initial minimum safety spacing involves not only the position information but also the velocity information of the robot and the obstacle.
一般社団法人日本機械学会の論文
2002-03-14