Back to Search
Start Over
Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot.
- Source :
- IEEE Transactions on Industrial Electronics; Oct2009, Vol. 56 Issue 10, p3892-3896, 5p
- Publication Year :
- 2009
-
Abstract
- Because the obstacle-avoidance function is indispensable for providing the safe and easy operation of human-operated robotic systems, this paper deals with the obstacle-avoidance control for a human-operated mobile robot in unknown environments. A general type of two-wheeled mobile robot with inexpensive distance sensors to detect obstacles is considered. Because the robot cannot move in arbitrary directions due to a nonholonomic constraint, we propose a model-reference control approach, in which a reference model generates the desired trajectory to satisfy the nonholonomic constraint, and the robot follows the desired trajectory. The reference model has the steering-like 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 handle the robot in an environment with obstacles. [ABSTRACT FROM AUTHOR]
- Subjects :
- ROBOTICS
MOBILE robots
DETECTORS
STEERING gear
BRAKE systems
Subjects
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 56
- Issue :
- 10
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 44495084
- Full Text :
- https://doi.org/10.1109/TIE.2009.2020715