Safe Control of Omnidirectional Mobile Robots in Consideration of Trouble Detection

Nobuhiro Ushimi and Kazuhiro Tsuruta


Omnidirectional Mobile Robot, Navigation, Trouble Detection, Safe Control, Human-Robot Coexistence Environment


This paper proposes trouble detection and safe control systems of a wheel driving mechanism in Omni-Directional Mobile Robots (ODMRs). The trouble detection system of the ODMR wheel driving mechanism applies to a motion control in a human-robot coexistence environment. A workspace of human beings often overlaps with a workspace of the ODMR in the human-robot coexistence environment. The proposed safe control system avoids a collision between the human being and the ODMR in consideration of the ODMR trouble. The effectiveness of the proposed safe control system in consideration of the ODMR trouble is shown in experimental results.

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