Dynamic obstacle avoidance of mobile robot tele-operation based on non-contact impedance control

摘要

An obstacle avoidance method using a non-contact impedance algorithm is proposed for a mobile robot in unknown terrain. By establishing non-contact impedance model, distance and approaching velocity between the mobile robot and an obstacle is regulated into a repulsive force. And an impedance model is established to form a virtual spring and damper between the robot and local terrain. The algorithm realizes autonomous obstacle avoidance of the mobile robot in local terrain under the remote tele-operation. The virtual impedance model for mobile robot improves the locomotion smoothness. Simulation is conducted, and the results verify the proposed algorithm is able to provide the robot with collision-free path in an obstacle-cluttered terrain and follow the expected velocity set by operator after getting away from obstacles.