TY - GEN
T1 - Design and implementation of human-robot collaborative control for wheeled mobile robots
AU - Hong, Tsu Zen
AU - Chiang, Hsin Han
AU - Chen, Yen Lin
PY - 2013
Y1 - 2013
N2 - In this study, a human-robot collaborative control system is presented for the navigation control of wheeled mobile robots (WMRs). This system aims to provide the mobility assistance for the elderly or the disabled to whom the effectiveness and safety in mobility should be more enhanced. In the proposed control system, two frameworks of operation models are developed. The first model is autonomous wall-following in which the WMR can automatically follow walls with a predefined offset while avoid obstacles. The other model provides the easy-to-use operation for users, and in this mode the motion WMR will be guided to where user intends to be. The switch scheme between the two modes can be activated by RFID sensing which is installed in the fork so that the WMR can wait for the command from the user. Through the experimental results, the developed control system demonstrates the effectiveness for human-robot collaborative navigation on the WMR.
AB - In this study, a human-robot collaborative control system is presented for the navigation control of wheeled mobile robots (WMRs). This system aims to provide the mobility assistance for the elderly or the disabled to whom the effectiveness and safety in mobility should be more enhanced. In the proposed control system, two frameworks of operation models are developed. The first model is autonomous wall-following in which the WMR can automatically follow walls with a predefined offset while avoid obstacles. The other model provides the easy-to-use operation for users, and in this mode the motion WMR will be guided to where user intends to be. The switch scheme between the two modes can be activated by RFID sensing which is installed in the fork so that the WMR can wait for the command from the user. Through the experimental results, the developed control system demonstrates the effectiveness for human-robot collaborative navigation on the WMR.
UR - http://www.scopus.com/inward/record.url?scp=84897744867&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84897744867&partnerID=8YFLogxK
U2 - 10.1109/CACS.2013.6734125
DO - 10.1109/CACS.2013.6734125
M3 - Conference contribution
AN - SCOPUS:84897744867
SN - 9781479923847
T3 - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
SP - 158
EP - 163
BT - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
T2 - 2013 CACS International Automatic Control Conference, CACS 2013
Y2 - 2 December 2013 through 4 December 2013
ER -