Collision avoidance control for a human-operated four-wheeled mobile robot

Uchiyama, Naoki and Dewi, Tresna and Sano, Shigenori (2014) Collision avoidance control for a human-operated four-wheeled mobile robot. Journal Of Mechanical Engineering Science, 228 (13). pp. 2278-2284. ISSN 0954-4062

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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.

Item Type: Article
Uncontrolled Keywords: Four-wheeled mobile robot, collision avoidance, human-operated mobile robot
Subjects: T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Electronic Engineering > Proceeding and Seminar
Depositing User: Mrs Trisni Handayani
Date Deposited: 04 Apr 2018 07:55
Last Modified: 11 Apr 2018 02:24

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