We propose a shared control structure for nonholonomic mobile robots, in which a human operator can command motions that override autonomous operation, and the robot overrides either the teleoperation or autonomous controller if it encounters an obstacle. We divide the whole configuration, including orientation, space into an obstacle avoidance and an obstacle-free region. This enables a switched-system approach to switch between autonomous and teleoperation mode, or the obstacle avoidance and the obstacle-free region. To reject disturbances or noise present in the error dynamics, two different robust control laws are proposed using a high gain and a variable structure approach. Lyapunov-based stability analysis is provided. To rigorously test the approach under different circumstances, experiments have been conducted by two different research groups. The results from two groups show that the shared control approach works effectively both in the teleoperation mode and autonomous mode with different system settings and environments.
- Dynamic Systems and Control Division
A Switched-System Approach to Shared Robust Control and Obstacle Avoidance for Mobile Robots
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Jin, J, Gans, N, Kim, Y, & Wee, S. "A Switched-System Approach to Shared Robust Control and Obstacle Avoidance for Mobile Robots." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. San Antonio, Texas, USA. October 22–24, 2014. V003T48A003. ASME. https://doi.org/10.1115/DSCC2014-6237
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