β Scribed by Hitoshi Miyata; Masaaki Ohkita
No coin nor oath required. For personal study only.
Miyata, H. and M. Ohkita, An algorithm of obstacle avoidance for an autonomous mobile robot, Mathematics and Computers in Simulation 35 (1993) 161-171.
The locus drawn by a car travelling at a low speed can be expressed by using circular arcs. This principle is applied to simulate travelling of an autonomous mobile robot with four wheels (Ohkita et al. (1990)). With this fact, it is shown that, by combining simple fuzzy control rules, the robot can be driven avoiding an obstacle put in a left turning course and also when the obstacle moves in its course. The rules are derived by modelling driving actions of a car to such cases.
π SIMILAR VOLUMES
Autonomous ground robots for exploring natural environments are developed in our research center along with the recognition of the configuration and the obstacles. The three key technologies for such a robot are the study of the locomotion mechanism, the autonomous system and the multiple robot con