Human-robot collision avoidance with RFID sensors using fuzzy logic and extended Kalman filter

摘要

At the down of the new millennium, robotic has tendency to contribute to a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is expending into challenge of dynamic unstructured environment. The emerging robots will increasingly touch people and their lives by interacting with, assisting, serving and exploring with them. In this paper, we propose a new strategy for human robot collision avoidance with position estimation. We have used RFID sensors for environment perception since they are frugal. We have used the fuzzy logic algorithm which we adapted to RFID sensor model in order to avoid collision with humans and we corrected the robot position with the well known Extended Kalman Filter. Finally we present some experiments which we have done with our experimental robot AX11. Figure 1: AX11 robot equipped with sonar sensors