ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-A22
会議情報
1A1-A22 自律全方位移動ロボットの予測を用いた障害物回避行動の実験的検証(動作計画と制御の新展開)
鈴木 崇文高橋 正樹森口 智規吉田 和夫
著者情報
会議録・要旨集 フリー

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抄録
This paper presents a new moving control method about obstacle avoidance problem with prediction time for autonomous omni-directional mobile robot. This method is based on the virtual potential approach and a modified repulsive potential function is proposed. In the method, to avoid obstacles efficiently, the repulsive force is generated by considering the velocity of the obstacle relative to the robot and the prediction time. To verify the effectiveness of the proposed method, the experiments using a robot were carried out. From the results, it was confirmed that the variety of behavior is generated by adjusting the prediction time.
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© 2008 一般社団法人 日本機械学会
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