Adaptive Motion Control for an Autonomous Mobile Robot Based on Space Risk Map

Abstract

To make mobile robot move considerately, an adaptive motion control method integrated potential field method is proposed. Risk map is firstly defined to show the magnitude of risks in the empty spaces around objects, then the considerate path is generated based on based on risk map. The robot is controlled by using integrated potential field method. The robot can automatically move with a considerate path to avoid disturbing others without make multiple moving rules, and areas with medium level risk are still passable, when there is no better choice. Besides, the robot will still make the users feel conformable by using effective interactions, like moving slowly to make sure safety or warning the users by sound. The effectiveness of the proposed system is proven by comparing the experimental results with those controlled by conventional potential field method.