Cart (Loading....) | Create Account
Close category search window
 

Obstacle avoidance control for a human-operated mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.