Semi-Autonomous Forward and Backward Motion Control of Wheeled Mobile System Based on Dimensional Extension of Vector Field

Abstract

We often use carts to carry luggage at the shopping center and airport. However, when the weight of the cart is heavy or the cart is surrounded by a lot of obstacles, the burden of the human controlling the cart increases. One of the research for reduction of the burden is the control using attractor that divides the work into human for sensing and propulsion, and machine for turning. In this paper, we propose a design method of vector field by extending dimension regarding velocity. Using the proposed method, it’s confirmed that the cart moves on reference trajectory regardless of the direction of motion and the steering wheel doesn’t rapidly change when we switch the direction of the motion.