Dynamic obstacle avoidance of mobile robot tele-operation based on non-contact impedance control
- Resource Type
- Conference
- Authors
- Zhihai Li; Zhenwei Wu; Yili Fu
- Source
- Proceeding of the 11th World Congress on Intelligent Control and Automation Intelligent Control and Automation (WCICA), 2014 11th World Congress on. :1421-1426 Jun, 2014
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Collision avoidance
Mobile robots
Impedance
Force
Robot sensing systems
Heuristic algorithms
- Language
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.