Obstacle avoidance control for a human-operated mobile robot

2008 ◽  
Author(s):  
Naoki Uchiyama ◽  
Tatsuhiro Hashimoto ◽  
Shigenori Sano ◽  
Shoji Takagi
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Avoidance Control

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

scholarly journals A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 42
Author(s):  
Jianhua Li ◽  
Jianfeng Sun ◽  
Guolong Chen
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Practical Applications ◽  
Control Scheme ◽  
Avoidance Control ◽  
Constant Distance ◽  
Trajectory Tracking Controller ◽  
The Stability ◽  
Switch Strategy

The obstacle avoidance control of mobile robots has been widely investigated for numerous practical applications. In this study, a control scheme is presented to deal with the problem of trajectory tracking while considering obstacle avoidance. The control scheme is simplified into two controllers. First, an existing trajectory tracking controller is used to track. Next, to avoid the possible obstacles in the environment, an obstacle avoidance controller, which is used to determine the fastest collision avoidance direction to follow the boundary of the obstacle at a constant distance, is proposed based on vector relationships between the robot and an obstacle. Two controllers combined via a switch strategy are switched to perform the task of trajectory tracking or obstacle avoidance. The stability of each controller in the control scheme is guaranteed by a Lyapunov function. Finally, several simulations are conducted to evaluate the proposed control scheme. The simulation results indicate that the proposed scheme can be applied to the mobile robot to ensure its safe movement in unknown obstacle environments.

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