Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot
Uchiyama, N.
Hashimoto, T.
Sano, S.
Takagi, S.
Dept. of Mech. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2009
Volume: 56,
Issue: 10
On page(s): 3892-3896
ISSN: 0278-0046
INSPEC Accession Number: 10869390
Digital Object Identifier: 10.1109/TIE.2009.2020715
First Published: 2009-04-21
Current Version Published: 2009-09-15
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.
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