Shared Control For Omnidirectional Mobile Robots

A shared control strategy is proposed in this paper for an omnidirectional mobile robot(OMR). The operator is able to control the pose of the OMR through both voice and gesture commands, which are recognized by Keda Xunfei offline command word recognition and Myo armband. When executing the operator’s intention, OMR can avoid automatically the obstacles through vector field histogram(VFH+) method, and back to the path defined by the previous instruction after obstacles avoidance. Experiments show the effectiveness of the telecontrol and obstacles avoidance.

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