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Dynamic Obstacle Avoidance of Mobile Robot Tele-operation Based on Non-contact Impedance Control
Li ZH(李志海); Wu ZW(吴镇炜); Fu YL(付宜利)
作者部门机器人学研究室
会议名称11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1421-1426
收录类别EI ; CPCI(ISTP)
EI收录号20152600977247
WOS记录号WOS:000393066201076
产权排序1
ISBN号978-1-4799-5825-2
摘要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 
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15381
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Technology (Shenyang Institute of Automation), Shenyang, Liaoning Province, China
2.Robotics Institute, Harbin Institute of Technology, Harbin, Heilongjiang Province, China
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GB/T 7714
Li ZH,Wu ZW,Fu YL. Dynamic Obstacle Avoidance of Mobile Robot Tele-operation Based on Non-contact Impedance Control[C]. Piscataway, NJ, USA:IEEE,2014:1421-1426.
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