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JRM Vol.8 No.1 pp. 81-92
doi: 10.20965/jrm.1996.p0081
(1996)

Paper:

A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles

Shigeki Ishikawa and Shun’ichi Asaka

IBM Japan, Ltd., Yamato Laboratory, 1623-14, Shimotsururna, Yamato, Kanagawa-Pref., 242 Japan

Received:
January 17, 1996
Accepted:
January 30, 1996
Published:
February 20, 1996
Keywords:
Autonomous mobile robot, Navigation, Obstacle avoidance, Fuzzy control
Abstract

In this paper, we present a sensor-based navigation method for an autonomous mobile robot in a dynamically changing environment with stationary and moving obstacles. A navigation task needs to navigate a robot to a destination along a predefined path, and to avoid obstacles, if necessary. However, the environment is always changing, and sensory information is quite limited (actually, we have many limitations on sensory processing in connection with a dynamically changing environment). We have to describe an efficient navigation manner onto the robot using simple sensory information. The first step in our approach was to use fuzzy control. Based on results of experiments, we propose a new navigation method for an autonomous mobile robot in a dynamically changing environment. The method determines a steering angle and a velocity to be sent to a low-level locomotion system. Two major parts are involved in this operation: one is the task of tracing a planned path; and the other is the task of avoiding obstacles. The distribution weight between their outputs is determined with a range data and differential range data between samplings.

Cite this article as:
Shigeki Ishikawa and Shun’ichi Asaka, “A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles,” J. Robot. Mechatron., Vol.8, No.1, pp. 81-92, 1996.
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