Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Jijo-2: An Office Robot that Communicates and Learns
IEEE Intelligent Systems
BioDKM: Bio-inspired domain knowledge modeling method for humanoid delivery robots' planning
Expert Systems with Applications: An International Journal
Exploiting a meeting channel to interconnect mobile robots
Journal of Network and Computer Applications
In-field and inter-field path planning for agricultural transport units
Computers and Industrial Engineering
Cooperative passers-by tracking with a mobile robot and external cameras
Computer Vision and Image Understanding
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We have been developing MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens, and other materials. This study proposes an obstacle collision avoidance technique for the wagon truck pulling robot which uses an omni-directional wheel system as a safe movement technology. Moreover, this paper proposes a method to reach the goal along a global path computed by path planning without colliding with static and dynamic obstacles. The method is based on virtual potential fields. Several modules with different prediction times are processed in parallel to change the robot response according to its relative velocity and position with respect to the obstacles. The virtual force calculated from each potential field is used to generate the velocity command. Some experiments were carried out to verify the performance of the proposed method. From the experimental results in a hospital it was confirmed that the robot can move along its global path, and reach the goal without colliding with static and moving obstacles.