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Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information
It is important to overcome different types of uncertainties for the safe and reliable navigation of mobile robots. Uncertainty sources can be categorized into recognition, motion, and environmental sources. Although several challenges of recognition uncertainty have been addressed, little attention...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6359098/ https://www.ncbi.nlm.nih.gov/pubmed/30642083 http://dx.doi.org/10.3390/s19020289 |
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author | Jin, Jiyong Chung, Woojin |
author_facet | Jin, Jiyong Chung, Woojin |
author_sort | Jin, Jiyong |
collection | PubMed |
description | It is important to overcome different types of uncertainties for the safe and reliable navigation of mobile robots. Uncertainty sources can be categorized into recognition, motion, and environmental sources. Although several challenges of recognition uncertainty have been addressed, little attention has been paid to motion uncertainty. This study shows how the uncertainties of robot motions can be quantitatively modeled through experiments. Although the practical motion uncertainties are affected by various factors, this research focuses on the velocity control performance of wheels obtained by encoder sensors. Experimental results show that the velocity control errors of practical robots are not negligible. This paper proposes a new motion control scheme toward reliable obstacle avoidance by reflecting the experimental motion uncertainties. The presented experimental results clearly show that the consideration of the motion uncertainty is essential for successful collision avoidance. The presented simulation results show that a robot cannot move through narrow passages owing to a risk of collision when the uncertainty of motion is high. This research shows that the proposed method accurately reflects the motion uncertainty and balances the collision safety with the navigation efficiency of the robot. |
format | Online Article Text |
id | pubmed-6359098 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-63590982019-02-06 Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information Jin, Jiyong Chung, Woojin Sensors (Basel) Article It is important to overcome different types of uncertainties for the safe and reliable navigation of mobile robots. Uncertainty sources can be categorized into recognition, motion, and environmental sources. Although several challenges of recognition uncertainty have been addressed, little attention has been paid to motion uncertainty. This study shows how the uncertainties of robot motions can be quantitatively modeled through experiments. Although the practical motion uncertainties are affected by various factors, this research focuses on the velocity control performance of wheels obtained by encoder sensors. Experimental results show that the velocity control errors of practical robots are not negligible. This paper proposes a new motion control scheme toward reliable obstacle avoidance by reflecting the experimental motion uncertainties. The presented experimental results clearly show that the consideration of the motion uncertainty is essential for successful collision avoidance. The presented simulation results show that a robot cannot move through narrow passages owing to a risk of collision when the uncertainty of motion is high. This research shows that the proposed method accurately reflects the motion uncertainty and balances the collision safety with the navigation efficiency of the robot. MDPI 2019-01-12 /pmc/articles/PMC6359098/ /pubmed/30642083 http://dx.doi.org/10.3390/s19020289 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Jin, Jiyong Chung, Woojin Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title | Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title_full | Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title_fullStr | Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title_full_unstemmed | Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title_short | Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information |
title_sort | obstacle avoidance of two-wheel differential robots considering the uncertainty of robot motion on the basis of encoder odometry information |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6359098/ https://www.ncbi.nlm.nih.gov/pubmed/30642083 http://dx.doi.org/10.3390/s19020289 |
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