Design and implementation of human-robot collaborative control for wheeled mobile robots

Tsu Zen Hong, Hsin Han Chiang, Yen Lin Chen

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
頁面158-163
頁數6
DOIs
出版狀態已發佈 - 2013
對外發佈
事件2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, 臺灣
持續時間: 2013 12月 22013 12月 4

出版系列

名字2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

其他

其他2013 CACS International Automatic Control Conference, CACS 2013
國家/地區臺灣
城市Nantou
期間2013/12/022013/12/04

ASJC Scopus subject areas

  • 控制與系統工程

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