Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot

Andaluz, Víctor H.; Robertí, Flavio; Toibero, Juan Marcos; Carelli, Ricardo; Wagner, Bernd

doi:10.1007/978-3-642-25486-4_56

Cited by 20 publications

(3 citation statements)

References 10 publications

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“…Thus, the odometry of the robotic walker was used to estimate the path-following error. To obtain the correct direction of turning at each pose of the path, the path following controller developed by Andaluz et al was used [ 62 ].…”

Section: Materials and Methodsmentioning

confidence: 99%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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The constant growth of pathologies affecting human mobility has led to developing of different assistive devices to provide physical and cognitive assistance. Smart walkers are a particular type of these devices since they integrate navigation systems, path-following algorithms, and user interaction modules to ensure natural and intuitive interaction. Although these functionalities are often implemented in rehabilitation scenarios, there is a need to actively involve the healthcare professionals in the interaction loop while guaranteeing safety for them and patients. This work presents the validation of two visual feedback strategies for the teleoperation of a simulated robotic walker during an assisted navigation task. For this purpose, a group of 14 clinicians from the rehabilitation area formed the validation group. A simple path-following task was proposed, and the feedback strategies were assessed through the kinematic estimation error (KTE) and a usability survey. A KTE of 0.28 m was obtained for the feedback strategy on the joystick. Additionally, significant differences were found through a Mann–Whitney–Wilcoxon test for the perception of behavior and confidence towards the joystick according to the modes of interaction (p-values of 0.04 and 0.01, respectively). The use of visual feedback with this tool contributes to research areas such as remote management of therapies and monitoring rehabilitation of people’s mobility.

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Section: Materials and Methodsmentioning

confidence: 99%

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Gomez-Vargas

et al. 2021

Sensors

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“…4). Simulations and experiments presented in this paper use the path following controller developed in Andaluz et al (2011), with a modification for obstacle avoidance based on impedance (Secchi and Mut, 2003).…”

Section: Application Example Of the Probabilistic Mapmentioning

confidence: 99%

Bounded memory probabilistic mapping of out-of-structure objects in fruit crops environments

Giménez

Tosetti

Carelli

2018

Computers and Electronics in Agriculture

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“…Figure 2 shows the involved variables of the path following controller, where: J 1 is the Jacobian of the robot defined in [17]; xR = x d − x R and ỹR = y d − y R are position errors; P is the set of points which define the desired path; P d = (x d , y d ) is the point on the path which is closer to the robot; d is the distance between the robot and P d ; ν Rc and ω Rc are the robot control actions of the lineal velocity and angular velocity respectively; ψ Ro is the orientation of the robot on the path; and ψ d is the desired orientation of the robot on the path defined by the tangent line to the path at P d ; ν d is the desired velocity for the path following task. The errors are proved to converge xR → 0 and ỹR → 0 asymptotically [17].…”

Section: Path Following Controller For the Mobile Robotmentioning

confidence: 99%

Switched Control to Robot-Human Bilateral Interaction for Guiding People

Leica

Toibero

Robertí

et al. 2014

J Intell Robot Syst

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This paper presents a switched control strategy to interpret and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when performing the specific task of tracking a mobile robot. This model is useful for the purposes of the control system design and its associated stability analysis. A switched system is proposed to model the complete human-robot behavior. The switching strategy is based on the human-robot relative position and on the human intention to follow the robot. Control errors are defined in terms of human to robot and robot to path instantaneous distances.

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Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot

Cited by 20 publications

References 10 publications

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists

Bounded memory probabilistic mapping of out-of-structure objects in fruit crops environments

Switched Control to Robot-Human Bilateral Interaction for Guiding People

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