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 language | English |
|---|---|
| Title of host publication | International Conference on Control, Automation and Systems |
| Pages | 1537-1539 |
| Number of pages | 3 |
| DOIs | |
| Publication status | Published - 2013 Dec 1 |
| Event | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of Duration: 2013 Oct 20 → 2013 Oct 23 |
Other
| Other | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 |
|---|---|
| Country | Korea, Republic of |
| City | Gwangju |
| Period | 13/10/20 → 13/10/23 |
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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
Cite this
Motion control of indoor mobile robots for safe navigation in cluttered environment. / Jin, Jiyong; Chung, Woo Jin.
International Conference on Control, Automation and Systems. 2013. p. 1537-1539 6704132.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion control of indoor mobile robots for safe navigation in cluttered environment
AU - Jin, Jiyong
AU - Chung, Woo Jin
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
KW - Collision avoidance
KW - Mobile robot navigation
KW - Robot motion uncertainty
UR - http://www.scopus.com/inward/record.url?scp=84893614196&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893614196&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6704132
DO - 10.1109/ICCAS.2013.6704132
M3 - Conference contribution
AN - SCOPUS:84893614196
SN - 9788993215052
SP - 1537
EP - 1539
BT - International Conference on Control, Automation and Systems
ER -