TY - GEN
T1 - Motion control of indoor mobile robots for safe navigation in cluttered environment
AU - Jin, Jiyong
AU - Chung, Woojin
PY - 2013
Y1 - 2013
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
T3 - International Conference on Control, Automation and Systems
SP - 1537
EP - 1539
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -