The purpose of this paper is to develop human following control method of a porter robot in order to support workers in carrying heavy loads. This paper describes how to control human following method by calculating velocity vectors using the data obtained from ultrasonic sensors and by applying the inverse kinematics to wheeled skid-steering mobile robot. We adopt control method in constructing porter robot to support repair operations of asphalt pavements. As repair operations of asphalt pavements are performed in limited space, it will be necessary to restrict the movements of the robot as well. In this study, we adopted the self-localization by using odometory in order to limit the moving area of the robot. The experimental results indicated that the proposed method were effective in following humans even with a limitation on the moving area.
- Dynamic Systems and Control Division
Human Following Control of Porter Robot With Velocity Vectors
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Sakamoto, N, & Okugawa, M. "Human Following Control of Porter Robot With Velocity Vectors." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 817-821. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8728
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