Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot

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 inexpe...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2009-10, Vol.56 (10), p.3892-3896
Main Authors: Uchiyama, N., Hashimoto, T., Sano, S., Takagi, S.
Format: Article
Language:English
Subjects:
Control system analysis
Control system synthesis
Control systems
Handles
Humans
Mathematical models
Mechanical engineering
Mechatronics
Mobile robots
mobile-robot obstacle avoidance
Motion control
Obstacles
Operators
Robot motion
Robot sensing systems
Robots
Stability analysis
Trajectories
Unknown environments
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Summary: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.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2009.2020715