Incorporation of autonomous control elements in combination control of remote operation and autonomous control

Takafumi Matsumaru, Kiyoshi Hagiwara, Tomotaka Ito

Research output: Contribution to conferencePaper

Abstract

This paper examined the combination control in which remote operation is combined with autonomous behaviours with the aim to realize the remote operation of mobile robot which moves in human-coexisting environment. In revolution, following, and slowdown which we had proposed as combination control the autonomous action element in consideration of the distance and direction to an obstacle and the speed of motion of the mobile robot at that time has been examined. Fuzzy reasoning and vector component are used to achieve this consideration. Although there was no big difference in following, mileage becomes short in revolution, and transit time was shortened in slowdown. Furthermore in order to avoid a near miss with an obstacle completely, slowdown is incorporated with revolution or following. Verification experiment in software simulation has been carried out with the same subject persons. Although it takes a little longer transit time, other special bad influence was not appeared.

Original languageEnglish
Pages2311-2316
Number of pages6
DOIs
Publication statusPublished - 2002 Dec 1
Externally publishedYes
EventProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain
Duration: 2002 Nov 52002 Nov 8

Conference

ConferenceProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
CountrySpain
CitySevilla
Period02/11/502/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Matsumaru, T., Hagiwara, K., & Ito, T. (2002). Incorporation of autonomous control elements in combination control of remote operation and autonomous control. 2311-2316. Paper presented at Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society, Sevilla, Spain. https://doi.org/10.1109/IECON.2002.1185333