Blending of human and obstacle avoidance control for a high speed mobile robot

2014 ◽  
Author(s):  
Justin G. Storms ◽  
Dawn M. Tilbury
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
High Speed ◽  
Avoidance Control

scholarly journals Hierarchical fuzzy obstacle avoidance control of omnidirectional mobile robot for substation inspection

2021 ◽  
Vol 233 ◽  
pp. 04003
Author(s):  
Li Ma
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
High Speed ◽  
Control Method ◽  
Path Model ◽  
Set Design ◽  
Avoidance Control ◽  
Control Set ◽  
Fast Control ◽  
Control Quantity

There are some limitations in the practical application of robot obstacle avoidance control methods. In order to realize the high-speed planning and obstacle avoidance processing of mobile robot, the path model, inspection route and path obstacles of the robot must be fully considered. Through feature extraction, the reasonable planning of substation inspection obstacle avoidance route is realized, and the control quantity set satisfying substation inspection is given. The hierarchical fuzzy obstacle avoidance control method of mobile robot is realized by using the optimal control set design. The simulation results show that the control method can solve various complex problems when the robot contour collides with obstacles, and can realize safe and fast control. The flexibility and robustness of obstacle avoidance are improved, and the motion state and speed of obstacles are also improved.

Obstacle Avoidance Control Method of Mobile Robot Motion

2013 ◽  
Vol 443 ◽  
pp. 119-122
Author(s):  
Bin Zhou ◽  
Jin Fa Qian
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Intelligent System ◽  
Development Trend ◽  
Working Environment ◽  
Intelligent Algorithm ◽  
Control Field ◽  
Avoidance Control ◽  
The Development Trend

Mobile robot is an intelligent system which can move freely and is scheduled to complete the task in the working environment. Obstacle avoidance of mobile robot is the research hotspot in the control field of the mobile robot. The mobile robot obstacle avoidance methods are classified, including the traditional algorithms and the intelligent algorithms. This paper summarizes the intelligent algorithm in the mobile robot obstacle avoidance technique in the present situation, and the intelligent algorithm which is the most researched in the current. Finally, this paper prospects the development trend of intelligent obstacle avoidance of the robot.

Obstacle Avoidance Control of a Mobile Robot

1997 ◽  
Vol 30 (7) ◽  
pp. 235-240
Author(s):  
K. Rausis ◽  
P. Myszkorowski ◽  
R. Longchamp
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Avoidance Control

A New Mobile Robot With a Passive Mechanism and a Stereo Vision System for Hazardous Terrain Exploration

2004 ◽  
Author(s):  
Sukjune Yoon ◽  
Chun-Kyu Woo ◽  
Hyun Do Choi ◽  
Sung-Kee Park ◽  
Sung-Chul Kang ◽  
...  
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Stereo Vision ◽  
High Speed ◽  
Vision System ◽  
Three Dimensional ◽  
Linkage Mechanism ◽  
Passive Mechanism ◽  
Stereo Vision System

The purpose of this project is to develop a mobile robot for hazardous terrain exploration. The exploration of hazardous terrain requires the development of a passive mechanism adaptable to such terrain and a sensing system for obstacle avoidance, as well as a remote control. We designed a new mobile robot, the Ronahz 6-wheel robot, which uses a passive mechanism that can adapt to hazardous terrains and building stairways without any active control. The suggested passive linkage mechanism consists of a simple four-bar linkage mechanism. In addition, we install a stereo vision system for obstacle avoidance, as well as a remote control. Wide dynamic range CCD cameras are used for outdoor navigation. A stereo vision system commonly requires high computational power. Therefore, we use a new high-speed stereo correspondence algorithm, triangulation, and iterative closest point (ICP) registration to reduce computation time. Disparity maps computed by a newly proposed, high-speed method are sent to the operator by a wireless LAN equipment. At the remote control site, a three-dimensional digital map around a mobile robot is built by ICP registration and reconstruction process, and this three-dimensional map is displayed for the operator. This process allows the operator to sense the environment around the robot and to give commands to the mobile robot when the robot is in a remote site.

Sign in / Sign up

Export Citation Format

Share Document