3933 移動障害物を滑らかに回避する移動ロボットのナビゲーションに関する研究(J18-1 自律型グラウンドビークル,エアビークルの新展開(1),J18 自律型グラウンドビークル,エアビークルの新展開,2005年度年次大会)

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, smooth change of the velocity and the steering of the robot are required, and especially the obstacles are moving. A simple fuzzy control system to avoid collision is presented here. In the system, the collision dangerous degree is judged according to the real distance from the robot to the moving obstacles and the initial minimum safety spacing. The necessary deceleration and the steering for avoiding the collision can be navigated using the fuzzy inference, which only needs to input one variable of the dangerous degree. Moreover, a predicting simulation is used to judger the danger of the robot in the next cycle, and the control values are adjusted according to the predicting simulation results in order to make the robot move smoothly.
一般社団法人日本機械学会の論文
2005-09-18