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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.799

Collision Avoidance of a Mobile Robot Using Intelligent Force Control Algorithm Based on Robot Dynamics  

Jang Eun Soo (충남대학교 메카트로닉스공학과)
Jung Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 799-808 More about this Journal
Abstract
In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.
Keywords
mobile robot; collision avoidance; force control; path planning; neural network;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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