Shared Control For Omnidirectional Mobile Robots

被引：0

作者：

Chen, Wenqiang ^{[1
]}

Yang, Chenguang ^{[1
]}

Feng, Ying ^{[1
]}

机构：

[1] South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Peoples R China

来源：

PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年

关键词：

omnidirectional mobile robot; shared control; VFH;

D O I：

10.1109/ccdc.2019.8833017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A shared control strategy is proposed in this paper for an omnidirectional mobile robo (OMR). The operator is able to control the pose of the OMR through both voice and gesture commands, which are recognized by Keda Xunfei offline command word recognition and Myo armband. When executing the operator's intention, OMR can avoid automatically the obstacles through vector field histogram(VFH+) method, and back to the path defined by the previous instruction after obstacles avoidance. Experiments show the effectiveness of the telecontrol and obstacles avoidance.

引用

页码：6185 / 6190

页数：6

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