Motion control of indoor mobile robots for safe navigation in cluttered environment

Jiyong Jin, Woojin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In various environments of service, collision avoidance of mobile robot is basic problem. High speed navigation increases the efficiency of services. However, if navigation speed of mobile robot increases, various problems arise. Using the uncertainty of robot motion, the method for avoiding collision can make robot navigate safely. By applying the robot motion uncertainty, we perform experiments of robot's collision avoidance performance under different velocity control strategies. We propose the navigation method considering the uncertainty of robot motion. To verify the performance of proposed method, experiments are performed. In the experiments, two robots are considered. One has more precise performance of velocity control than the other. As a result, the proposed method shows safe navigation results in cluttered environment, though the conventional control method may cause the collision with obstacles. Finally, we verify the effectiveness of the proposed method through several experiments.

Original languageEnglish
Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages1537-1539
Number of pages3
DOIs
Publication statusPublished - 2013
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period13/10/2013/10/23

Keywords

  • Collision avoidance
  • Mobile robot navigation
  • Robot motion uncertainty

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Jin, J., & Chung, W. (2013). Motion control of indoor mobile robots for safe navigation in cluttered environment. In ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems (pp. 1537-1539). [6704132] (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2013.6704132