Collision avoidance control for a human-operated four-wheeled mobile robot
| Main Authors: | Uchiyama, Naoki, Dewi, Tresna, Sano, Shigenori |
|---|---|
| Format: | Article PeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
SAGE Publishing
, 2014
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| Subjects: | |
| Online Access: |
http://eprints.polsri.ac.id/4417/1/iome_collision_avoidance.pdf http://eprints.polsri.ac.id/4417/ http://www.sagepublications.com |
Daftar Isi:
- Because the collision avoidance function is indispensable for providing safe and easy operation of human-operated robotic systems, this paper deals with the collision avoidance control for a human-operated mobile robot in unknown environments. A typical four-wheeled mobile robot with infrared distance sensors for detecting obstacles is considered. The robot cannot move in an arbitrary direction owing to a nonholonomic constraint. Therefore, we propose a simple control approach in which a human operator’s control input is modified in real time to satisfy the nonholonomic constraint and avoid collision with obstacles. The proposed controller has steering- and brake-like functions that are adjusted according to the distance sensor information. The stability of the proposed control system is analyzed with a linear model. The effectiveness of the proposed method is confirmed by experiments in which several operators control the robot in an environment with obstacles.