抄録
This paper presents a method for human-computer cooperative control of a mobile robot, where the system supports some cooperative action between manual and automatic modes. The proposed method uses variable gains which change the connection of dual modes. The robot is usually controlled by a computer using known information, but if it is necessary for human operator to adjust the motion of the robot, human operator can intervene in computer operation to reduce the speed of the robot and change the course of the motion by moving the joystick. The method, proven by some actual trials in a PWS mobile robot, realizes efficiencies in the operation of mobile robot with simplicities of commands and flexibility of human operator.
