Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique
Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique
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DOI：
10.1109/robot.2005.1570800
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
Seul Jung;E. Jang;T. Hsia
中科院分区：
文献类型：
--
作者：
Seul Jung;E. Jang;T. Hsia
提出了一种新的移动的机器人避碰算法。在机器人与障碍物之间形成虚拟力场，并对其进行调节，使机器人与障碍物保持理想距离。为了使移动的机器人避开路径上的障碍物，采用智能混合力控制来调节机器人与障碍物之间的精确距离的力场。由于机器人动力学和障碍物的不确定性降低了避碰任务的性能，神经网络被用来补偿不确定性。通过对轮式移动的机器人在路径上保持期望距离避障的仿真研究，验证了该算法的有效性。
In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.