Journal of Central South University of Technology

, Volume 13, Issue 6, pp 683–688 | Cite as

Identification of abnormal movement state and avoidance strategy for mobile robots

  • Cai Zi-xing  (蔡自兴)
  • Duan Zhuo-hua  (段琢华)Email author
  • Zhang Hui-tuan  (章慧团)
  • Yu Jin-xia  (于金霞)


Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence of abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer perceptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.

Key words

mobile robot abnormal movement state avoidance strategy 

CLC number



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Copyright information

© Published by: Central South University Press, Sole distributor outside Mainland China: Springer 2006

Authors and Affiliations

  • Cai Zi-xing  (蔡自兴)
    • 1
  • Duan Zhuo-hua  (段琢华)
    • 1
    • 2
    Email author
  • Zhang Hui-tuan  (章慧团)
    • 1
  • Yu Jin-xia  (于金霞)
    • 1
    • 3
  1. 1.School of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.School of Information EngineeringShaoguan UniversityShaoguanChina
  3. 3.Department of Computer Science and TechnologyHenan Polytechnic UniversityJiaozuoChina

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