Planning the Emergency Collision Avoidance Strategy Based on Personal Zones for Safe Human‐Machine Interaction in Smart Cyber‐Physical System

Complexity - Tập 2022 Số 1 - 2022
Thanh Phương Nguyễn1, Hung T. Nguyen1, Ha Quang Thinh Ngo2,3
1Hutech Institute of Engineering, HUTECH University, Ho Chi Minh, Vietnam
2Department of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, HCMC, 700000, Vietnam
3Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh, 700000, Vietnam

Tóm tắt

Human contact is a key issue in social interactions for autonomous systems since robots are increasingly appearing everywhere, which has led to a higher risk of conflict. Particularly in the real world, collisions between humans and machines may result in catastrophic accidents or damaged goods. In this paper, a novel stop strategy related to autonomous systems is proposed. This control method can eliminate the vibrations produced by a system’s movement by analysing the poles and zeros in the model of autonomous vehicles and goods. Using the pole placement technique, the motion of a system is guaranteed to be more stable, more flexible and smoother. Moreover, several control profiles are employed in the switching mechanism to choose the proper vibration‐free effect. The main contributions of this paper are (i) the recommendation of an active stopping planner using different smooth generators from a modelling study, (ii) the validation of their physical characteristics and (iii) the launching of a switching algorithm based on the socially aware navigation framework of a robot. This theoretical work is based on the virtual environment of MATLAB, and the experiment is implemented in the practical platform of an automated guided vehicle. From these results, it can be seen that the proposed approach is robust, effective and feasible for applications in storehouse management, public transportation or factory manufacturing.

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Complexity

Tập 2022 Số 1

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