TY - GEN
T1 - Dynamic obstacle avoidance of mobile robot tele-operation based on non-contact impedance control
AU - Li, Zhihai
AU - Wu, Zhenwei
AU - Fu, Yili
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - An obstacle avoidance method using a non-contact impedance algorithm is proposed for a mobile robot in unknown terrain. By establishing non-contact impedance model, distance and approaching velocity between the mobile robot and an obstacle is regulated into a repulsive force. And an impedance model is established to form a virtual spring and damper between the robot and local terrain. The algorithm realizes autonomous obstacle avoidance of the mobile robot in local terrain under the remote tele-operation. The virtual impedance model for mobile robot improves the locomotion smoothness. Simulation is conducted, and the results verify the proposed algorithm is able to provide the robot with collision-free path in an obstacle-cluttered terrain and follow the expected velocity set by operator after getting away from obstacles.
AB - An obstacle avoidance method using a non-contact impedance algorithm is proposed for a mobile robot in unknown terrain. By establishing non-contact impedance model, distance and approaching velocity between the mobile robot and an obstacle is regulated into a repulsive force. And an impedance model is established to form a virtual spring and damper between the robot and local terrain. The algorithm realizes autonomous obstacle avoidance of the mobile robot in local terrain under the remote tele-operation. The virtual impedance model for mobile robot improves the locomotion smoothness. Simulation is conducted, and the results verify the proposed algorithm is able to provide the robot with collision-free path in an obstacle-cluttered terrain and follow the expected velocity set by operator after getting away from obstacles.
UR - https://www.scopus.com/pages/publications/84932139002
U2 - 10.1109/WCICA.2014.7052927
DO - 10.1109/WCICA.2014.7052927
M3 - 会议稿件
AN - SCOPUS:84932139002
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 1421
EP - 1426
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -