Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot

@article{Uchiyama2009ModelReferenceCA,
  title={Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot},
  author={Naoki Uchiyama and Tatsuhiro Hashimoto and Shigenori Sano and Shoji Takagi},
  journal={IEEE Transactions on Industrial Electronics},
  year={2009},
  volume={56},
  pages={3892-3896}
}
Because the obstacle-avoidance function is indispensable for providing the safe and easy operation of human-operated robotic systems, this paper deals with the obstacle-avoidance control for a human-operated mobile robot in unknown environments. A general type of two-wheeled mobile robot with inexpensive distance sensors to detect obstacles is considered… CONTINUE READING