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

Uchiyama, Naoki; Hashimoto, Tatsuhiro; Sano, Shigenori; Takagi, Shoji

doi:10.1109/tie.2009.2020715

Cited by 38 publications

(23 citation statements)

References 23 publications

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“…Contributions [11] Adaptive control no considering external disturbances at the kinematic level [12] Model-reference control without external disturbances [13] An integrated method and path following no considering external disturbances [14] Binary logic controller and FLC without external disturbances This paper Nonlinear controller with considering external disturbances at the dynamic level according to the actual needs. In this paper, an extended state observer is introduced to estimate the unknown disturbances, which will be compensated in controller (15).…”

Section: Referencesmentioning

confidence: 99%

“…Moreover, wheeled mobile robots often encounter obstacles when working in complex environment [10]. Based on kinematical equations, some control problems have been studied on tracking and obstacle avoidance, please refer to [11], [12], [13], [14], and so on. Note that trajectory tracking and obstacle avoidance controllers are designed separately in most existing works, which easily lead to the low work efficiency and cause high frequency noise [15].…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint

Yang

Fan

Shi

et al. 2015

IEEE Trans. Contr. Syst. Technol.

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Abstract-This paper presents a novel control scheme for some problems on tracking and obstacle avoidance of a wheeled mobile robot with nonholonomic constraint. An extended state observer is introduced to estimate unknown disturbances and velocity information of the wheeled mobile robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.

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Section: Referencesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint

Yang

Fan

Shi

et al. 2015

IEEE Trans. Contr. Syst. Technol.

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show abstract

“…To combine the human input and the feedback control input together, a shared-control algorithm based on the hysteresis switch has been introduced in [19]. The paper [20] has proposed steering-like and brake-like functions according to the distance to the obstacles to avoid collisions, while the human operator drives the robot with a joystick and the stability of the system is analyzed through a linear model. The shared-control problem for a mobile robot has been studied in [21], where the shared controller is used to cope with lowlevel navigations and thus reduces the operator's workload.…”

Section: Introductionmentioning

confidence: 99%

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

Jiang

Franco

Astolfi

2016

IEEE Trans. Contr. Syst. Technol.

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Abstract-This paper presents shared-control algorithms for the kinematic and the dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the sharedcontrol are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.

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“…This kind of robot cannot move in arbitrary directions due to the nonholonomic constraint. In [9], N. Uchiyama et al propose control approach, in which the desired trajectory is generated to satisfy the nonholonomic constraint. But the robot needs human control commands.…”

Section: Introductionmentioning

confidence: 99%

Control of omini-directional mobile vehicle for obstacle avoidance using potential function method

Hoang

Kim

2013

2013 9th Asian Control Conference (ASCC)

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This paper proposes a tracking controller for obstacle avoidance of an omni-directional mobile vehicle (OMV) using potential function method through a ceiling-mounted camera system. To do this task, the followings were done. At first, for image processing, a ceiling-mounted camera system was installed to get images. The goal point and obstacles were separated and recognized by a color recognition method. Second, potential function method was proposed to generate the shortest path to avoid obstacles from the start point to the goal point. The mobile platform is a mecanum wheel omni-directional vehicle. Third, the tracking controller is designed for the OMV to track a trajectory generated by a path planning algorithm based on the backstepping method using Lyapunov function. Finally, the simulation results were presented to show the effectiveness of the proposed trajectory planning algorithm and tracking controller for obstacle avoidance of the OMV.

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

Cited by 38 publications

References 23 publications

Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint

Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

Control of omini-directional mobile vehicle for obstacle avoidance using potential function method

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