Collision avoidance of a mobile robot for moving obstacles based on impedance force control algorithm

摘要

In this paper, a collision avoidance algorithm using an impedance force control method for a mobile robot is proposed. A distance between a mobile robot and an obstacle is considered as a virtual force to be regulated by a well known impedance force control algorithm. The proposed collision avoidance algorithm is expected to react dynamically well when the obstacle is moving around. Simulation studies are conducted based on the dynamic model of a mobile robot. Simulation results confirm that the performance of the proposed force algorithm is better in maintaining the virtual distance to avoid moving obstacles compared with results of using a position control method.