Fuzzy Inference Based Obstacle Avoidance Control of Electric Powered Wheelchair Considering Driving Risk

2012 ◽  
Vol 132 (6) ◽  
pp. 952-959 ◽  
Author(s):  
Atsushi Kiso ◽  
Hiroki Murakami ◽  
Hirokazu Seki
Keyword(s):  
Obstacle Avoidance ◽  
Fuzzy Inference ◽  
Powered Wheelchair ◽  
Driving Risk ◽  
Avoidance Control

STEREOVISION-BASED FUZZY OBSTACLE AVOIDANCE METHOD

2011 ◽  
Vol 08 (01) ◽  
pp. 169-183 ◽  
Author(s):  
LAZAROS NALPANTIDIS ◽  
ANTONIOS GASTERATOS
Keyword(s):  
Obstacle Avoidance ◽  
Efficient Solution ◽  
Fuzzy Inference ◽  
Autonomous Mobile Robots ◽  
Fuzzy Decision Making ◽  
Fuzzy Decision ◽  
Inference System ◽  
Depth Maps ◽  
Complex Processes ◽  
Stereo Algorithm

This work presents a stereovision-based obstacle avoidance method for autonomous mobile robots. The decision about the direction on each movement step is based on a fuzzy inference system. The proposed method provides an efficient solution that uses a minimum of sensors and avoids computationally complex processes. The only sensor required is a stereo camera. First, a custom stereo algorithm provides reliable depth maps of the environment in frame rates suitable for a robot to move autonomously. Then, a fuzzy decision making algorithm analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on a variety of self-captured outdoor images and the results are presented and discussed.

Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots*

2021 ◽  
Author(s):  
Weimin Qi ◽  
Qinbo Sun ◽  
Chongfeng Liu ◽  
Xiaoqiang Ji ◽  
Zhongzhong Cao ◽  
...  
Keyword(s):  
Risk Assessment ◽  
Obstacle Avoidance ◽  
Collision Risk ◽  
Avoidance Control

scholarly journals Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Yongqiang Zhu ◽  
Junru Zhu ◽  
Pingxia Zhang
Keyword(s):  
Obstacle Avoidance ◽  
Control Strategy ◽  
Trajectory Prediction ◽  
Coverage Area ◽  
Iterative Calculation ◽  
Wheeled Robot ◽  
Avoidance Control ◽  
Narrow Space ◽  
The Relationship ◽  
Prediction Strategy

A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving trajectory prediction of the multiaxle wheeled robot is analyzed. On this basis, an obstacle avoidance control strategy based on trajectory prediction is proposed. By calculating the relationship between the lidar points of the obstacle and the trajectory coverage area, the iterative calculation of the obstacle avoidance scheme for the proposed steering is carried out, and the feasible obstacle avoidance scheme is obtained. The mechanical structure, hardware, and software control system of a five-axle wheeled robot are designed. Finally, to verify the effectiveness of the obstacle avoidance strategy, a Z-shaped obstacle avoidance experiment was carried out. The results confirm the effectiveness of the proposed control strategy.

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