大域的安定なアトラクタを用いた半自律掘削の速度調整制御

抄録

The conventional remote operation of excavators has lower work efficiency compared to direct operations. To address this problem, we have developed a semi-autonomous control system consisting of an autonomous system with an attractor and human action. In this paper, we focus on velocity regulation control. The excavator has to pause and resume through human operations for safety issue. Based on a globally stable attractor, we introduce parameter control for the flow vector and dynamically adjust this parameter in real-time through virtual potential functions and human operations. We verified the proposed method with the leader-follower robot by experiment.