A Teleoperation Framework for Mobile Robots Based on Shared Control
نویسندگان
چکیده
منابع مشابه
Teleoperation of Mobile Robots
−− This paper proposes a stable control structure for bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. Teleoperation experiments through a simulated and real (using Internet) communication channel are presented to illustrate the performance and stability of the propo...
متن کاملA Trust-Based Mixed-Initiative Teleoperation Scheme for the Shared Control of Mobile Robotic Systems
In this work, a trust-based mixed-initiative scheme for teleoperation of multiple mobile robots is developed. In the proposed scheme, the task of controlling the robots is shared between a human operator and autonomous controllers of the mobile robots. The control inputs from human and the autonomous robot controllers are dynamically blended via a computational human-to-robot trust model. Meanw...
متن کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملMobile Teleoperation Interfaces for Domestic Service Robots
Domestic service robots are envisioned to provide assistance to persons in need of help with their activities of daily living. These tasks require a comprehensive set of perception, control, and planning skills—beyond the state of the art of autonomous robots. On the other hand, direct control of complex robots requires special equipment and the full attention of the operator. Hence, it is nece...
متن کاملShared Compliant Control of Teleoperation Based on Stiffness Feedback
Abstract. In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master si...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2019.2959442