人間操作型移動ロボットの物体搬送制御

概要

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Because of the difficulty in realizing fully automated robotic systems from the viewpoint of cost efficiency and current available technologies, human-robot cooperative system has been widely studied to date. In this study, we consider a general type two-wheeled human-operated mobile robot that may support object transportation tasks in houseworks and factories. Inexpensive infrared distance sensors are installed on the robot to detect obstacles. A controller design that provides two fundamental functions is developed; obstacle avoidance and stable transportation of object, even when the human operator makes mistakes in operation. To consider the nonholonomic constraint and incorporate the human operator's command, we propose a model reference control approach in which the robot follows a desired trajectory generated by a reference model. The reference model has steering and brake-like functions that are adjusted according to the distance sensor information. The effectiveness of the proposed method is confirmed by experiments in which several unskilled operators operate the robot in a corridor-like space.
2009-04-25