Title :
A new hybrid system architecture with local feedback control of a wheeled mobile manipulator
Author :
Chang, Chih-Fu ; Huang, Chun-Po ; Fu, Li-Chen ; Yi, Yu-Ming ; Hsu, Yu-Po ; Tzou, Dai-Jei ; Chen, Jerry ; Lai, Joseph ; Lin, I-Fan
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
In this paper, a novel hybrid system with a local feedback control architecture for a wheeled mobile manipulator (WMM) is proposed to seek a target and grasp it within an unknown indoor environment. The active behaviors of a WMM are able to explore environment, lock target, self-localization and avoid obstacles. Initially, an ingenious hybrid model which captures the continuous dynamics of the WMM and the event-driven collision-avoiding goal seeking process is established. Next, a two-level control architecture is devised for the WMM system, where the first level mainly handles sensor feedback subject to sensor fusion, whereas the second level is responsible for providing a well performed supervisory control that can manipulate all available surrounding resources to successfully accomplish the aforementioned mission. In the Advanced Control Lab of Dept. of Electrical Engineering at the National Taiwan University, an actual WMM is developed, named The Treasure Hunter (TTH), which is able to hunt treasures in an unknown environment whereby the effectiveness of the proposed approach is satisfactorily demonstrated.
Keywords :
collision avoidance; feedback; manipulator dynamics; mobile robots; sensor fusion; The Treasure Hunter; active behaviors; continuous dynamics; environment exploration; event-driven collision-avoiding goal seeking process; hybrid system architecture; local feedback control; self-localization; sensor feedback; sensor fusion; supervisory control; target locking; two-level control architecture; unknown indoor environment; wheeled mobile manipulator; Computer architecture; Control systems; Feedback control; Manipulator dynamics; Mobile computing; Mobile robots; Sensor fusion; Sensor systems; Stability; Supervisory control;
Conference_Titel :
Mechatronics, 2005. ICM '05. IEEE International Conference on
Print_ISBN :
0-7803-8998-0
DOI :
10.1109/ICMECH.2005.1529394