Design of Autonomous/Man-Machine-Cooperative Mobile Robot
Shinkichi Inagaki, Tatsuya Suzuki, Takahiro Ito, and Wu Shidan
Dept. of Mechanical Science and Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya, Japan
The control methodology we propose for a nonholonomic electric two-wheeled vehicle combines autonomous control and man-machine-cooperative control. “Autonomous control” is designed using time-state control to reduce vehicle deviation from a guidance line. “Man-machine-cooperative control” is designed using impedance control to generate power to assist user maneuvers. Experiments demonstrate the usefulness of our proposed design.
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