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Obstacle avoidance control for a human-operated mobile robot

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4 Author(s)
Uchiyama, N. ; Dept. of Mech. Eng., Toyohashi Univ. of Technol., Toyohashi ; Hashimoto, T. ; Sano, S. ; Takagi, S.

Obstacle avoidance is an indispensable function in human-operated mobile robots for providing safe and easy operations. This paper presents a new approach to obstacle avoidance for a human-operated mobile robot in unknown environments. A general type of nonholonomic two-wheeled mobile robot with several 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 the robot follows a desired trajectory generated by a reference model. The reference model has steering and brake-like functions that are adjusted according to 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 unskilled operators handle the robot in a corridor-like space.

Published in:

Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on

Date of Conference:

26-28 March 2008

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