Model-reference control approach to obstacle avoidance for a human-operated mobile robot / Uchiyama, Naoki in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3892 - 3896 Titre : Model-reference control approach to obstacle avoidance for a human-operated mobile robot Type de document : texte imprimé Auteurs : Uchiyama, Naoki, Auteur ; Hashimoto, Tatsuhiro, Auteur ; Sano, Shigenori, Auteur Article en page(s) : pp. 3892 - 3896 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Mechatronics Mobile-robot obstacle avoidance Motion control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4838916 [article] Model-reference control approach to obstacle avoidance for a human-operated mobile robot [texte imprimé] / Uchiyama, Naoki, Auteur ; Hashimoto, Tatsuhiro, Auteur ; Sano, Shigenori, Auteur . - pp. 3892 - 3896. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3892 - 3896 Mots-clés : Mechatronics Mobile-robot obstacle avoidance Motion control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : 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. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4838916

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