Dynamic Obstacle Avoidance of Mobile Robot Tele-operation Based on Non-contact Impedance Control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Dynamic Obstacle Avoidance of Mobile Robot Tele-operation Based on Non-contact Impedance Control
	Li ZH(李志海); Wu ZW(吴镇炜); Fu YL(付宜利)
	2014
会议名称	11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期	June 29 - July 4, 2014
会议地点	Shenyang, China
页码	1421-1426
中文摘要	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
收录类别	EI
产权排序	1
会议录	Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-5825-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15381]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li ZH,Wu ZW,Fu YL. Dynamic Obstacle Avoidance of Mobile Robot Tele-operation Based on Non-contact Impedance Control[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.