Shared Control For Omnidirectional Mobile Robots

被引：0
|
作者：
Chen, Wenqiang [1 ]
Yang, Chenguang [1 ]
Feng, Ying [1 ]
机构：
[1] South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Peoples R China
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
关键词：
omnidirectional mobile robot; shared control; VFH;
D O I：
10.1109/ccdc.2019.8833017
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A shared control strategy is proposed in this paper for an omnidirectional mobile robo (OMR). The operator is able to control the pose of the OMR through both voice and gesture commands, which are recognized by Keda Xunfei offline command word recognition and Myo armband. When executing the operator's intention, OMR can avoid automatically the obstacles through vector field histogram(VFH+) method, and back to the path defined by the previous instruction after obstacles avoidance. Experiments show the effectiveness of the telecontrol and obstacles avoidance.
引用
收藏
页码：6185 / 6190
页数：6
相关论文
共 50 条
  • [1] A sEMG-Based Shared Control System With No-Target Obstacle Avoidance for Omnidirectional Mobile Robots
    Kong, Haiyi
    Yang, Chenguang
    Li, Guang
    Dai, Shi-Lu
    [J]. IEEE ACCESS, 2020, 8 : 26030 - 26040
  • [2] Finite-Time Control of Omnidirectional Mobile Robots
    Galicki, Miroslaw
    [J]. NONLINEAR DYNAMICS AND CONTROL, VOL II: PROCEEDINGS OF THE FIRST INTERNATIONAL NONLINEAR DYNAMICS CONFERENCE (NODYCON 2019), 2020, : 207 - 215
  • [3] Control of an Omnidirectional Mobile Base with Multiple Spherical Robots
    Kadam, Vaibhav Nandkumar
    Vachhani, Leena
    Gupta, Abhishek
    [J]. 2019 SIXTH INDIAN CONTROL CONFERENCE (ICC), 2019, : 350 - 355
  • [4] Trajectory Tracking Control for Omnidirectional Mobile Robots with Input Constraints
    Zheng, Wenhao
    Jia, Yingmin
    [J]. PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2016), 2016, : 373 - 376
  • [5] Offline robust tuning of the motion control for omnidirectional mobile robots
    Serrano-Perez, Omar
    Villarreal-Cervantes, Miguel G.
    Rodriguez-Molina, Alejandro
    Serrano-Perez, Javier
    [J]. APPLIED SOFT COMPUTING, 2021, 110
  • [6] Smooth Switching Robust Adaptive Control for Omnidirectional Mobile Robots
    Huang, Jeng-Tze
    Tran Van Hung
    Tseng, Ming-Lei
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (05) : 1986 - 1993
  • [7] Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots
    Keigo Watanabe
    Yamato Shiraishi
    Spyros G. Tzafestas
    Jun Tang
    Toshio Fukuda
    [J]. Journal of Intelligent and Robotic Systems, 1998, 22 : 315 - 330
  • [8] Multilayer Control for Coordinating Three - Wheeled Omnidirectional Mobile Robots
    Putra, Calmantara Sumpono
    Fahleraz, Faza
    Widyotriatmo, Augie
    Mutijarsa, Kusprasapta
    [J]. PROCEEDINGS OF THE 2019 6TH INTERNATIONAL CONFERENCE ON INSTRUMENTATION, CONTROL, AND AUTOMATION (ICA), 2019, : 182 - 187
  • [9] Dynamic modelling and control design of a class of omnidirectional mobile robots
    Betourne, A
    Campion, G
    [J]. 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 2810 - 2815
  • [10] Motion and squeeze force control for omnidirectional wheeled mobile robots
    Deng, Xuyue
    Zhao, Dongbin
    Yi, Jianqiang
    Wen, John T.
    [J]. 2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : COVER4 - COVER5
12345