Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique

Author

Jung, Seul ; Jang, Eun Soo ; Hsia, T.C.

Author_Institution

Department of Mechatronics Engineering Chungnam National University Daejeon, KOREA 305-764; jungs@cnu.ac.kr

fYear

2005

fDate

18-22 April 2005

Firstpage

4418

Lastpage

4423

Abstract

In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.

Keywords

collision avoidance; hybrid force control; mobile robot; neural network; path planning; Collision avoidance; Force control; Intelligent control; Intelligent robots; Mobile robots; Neural networks; Path planning; Robot kinematics; Robot sensing systems; Uncertainty; collision avoidance; hybrid force control; mobile robot; neural network; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570800

Filename

1570800