Dynamic obstacle avoidance of mobile robot tele-operation based on non-contact impedance control
Dynamic obstacle avoidance of mobile robot tele-operation based on non-contact impedance control
复制标题
基于非接触阻抗控制的移动机器人遥操作动态避障
DOI：
10.1109/wcica.2014.7052927
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Yili Fu
中科院分区：
文献类型：
--
作者：
Zhihai Li;Zhenwei Wu;Yili Fu
针对移动的机器人在未知地形中的避障问题，提出了一种基于非接触阻抗算法的避障方法。通过建立非接触阻抗模型，将移动的机器人与障碍物之间的距离和接近速度转化为排斥力。建立了机器人与局部地形之间的阻抗模型，形成虚拟弹簧和阻尼器。该算法实现了移动的机器人在局部地形中的远程遥控自主避障。移动的机器人的虚拟阻抗模型提高了运动的平滑性。仿真结果表明，该算法能够在障碍物复杂的地形中为机器人提供无碰撞路径，并在脱离障碍物后按照操作者设定的期望速度运动。
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.