標題: Design and Experimental Study of a Shared-Controlled Omnidirectional Mobile Platform
作者: Lin, Ming-Han
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: shared-control;remote control;mobile robots
公開日期: 2014
摘要: It is usually difficult to remote control of a mobile robot using only an onboard camera. The robot can easily bump into an obstacle due to limited view angle of the on-site scene. This paper presents a shared-control design for effective remote control of an omnidirectional mobile platform. The platform is able to move in any direction without changing robot\'s heading, and a stable camera view is available for remote control. A user interface is designed for a smart phone/tablet to remote control the robot using a touch panel. The proposed controller determines the human and robot interactive gains by computing user\'s confidence factor. In this approach, the robot assists a user to manipulate its motion from a remote site by compensating local insufficiency of human remote control. Practical experiments validate the proposed design and demonstrate that the proposed shared-control approach of an omnidirectional platform can have potential use for future home service tasks.
URI: http://hdl.handle.net/11536/135045
ISBN: 978-1-4799-3840-7
ISSN: 1062-922X
期刊: 2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC)
起始頁: 3579
結束頁: 3584
顯示於類別:會議論文