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

Takafumi Matsumaru, Kiyoshi Hagiwara, Tomotaka Ito

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2311-2316
Number of pages6
Volume3
DOIs
Publication statusPublished - 2002
Externally publishedYes
EventProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla
Duration: 2002 Nov 52002 Nov 8

Other

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

Fingerprint

Mobile robots
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Matsumaru, T., Hagiwara, K., & Ito, T. (2002). Incorporation of autonomous control elements in combination control of remote operation and autonomous control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 2311-2316) https://doi.org/10.1109/IECON.2002.1185333

Incorporation of autonomous control elements in combination control of remote operation and autonomous control. / Matsumaru, Takafumi; Hagiwara, Kiyoshi; Ito, Tomotaka.

IECON Proceedings (Industrial Electronics Conference). Vol. 3 2002. p. 2311-2316.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsumaru, T, Hagiwara, K & Ito, T 2002, Incorporation of autonomous control elements in combination control of remote operation and autonomous control. in IECON Proceedings (Industrial Electronics Conference). vol. 3, pp. 2311-2316, Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society, Sevilla, 02/11/5. https://doi.org/10.1109/IECON.2002.1185333
Matsumaru, Takafumi ; Hagiwara, Kiyoshi ; Ito, Tomotaka. / Incorporation of autonomous control elements in combination control of remote operation and autonomous control. IECON Proceedings (Industrial Electronics Conference). Vol. 3 2002. pp. 2311-2316
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