Teleoperation of Mobile Robots
نویسنده
چکیده
−− 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 proposed control structure. Keywords−− asymptotic stability, mobile robots, teleoperation, time varying delay.
منابع مشابه
A Review of Current Applications in Teleoperation of Mobile Robots
Teleoperation means to operate a robot or a system from a distant location. Teleoperation is useful when the operating environment is dangerous, impractical or when achieving a specific vehicle for inspection environment is too expensive. Mobile robots can be considered as an example of teleoperation system because they can be remotely controlled to perform certain specific tasks. This paper is...
متن کاملBilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace
This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular ve...
متن کاملThroughput Measurement Method Using Command Packets for Mobile Robot Teleoperation Via a Wireless Sensor Network
We are working to develop an information gathering system comprising a mobile robot and a wireless sensor network (WSN) for use in post-disaster underground environments. In the proposed system, a mobile robot carries wireless sensor nodes and deploys them to construct a WSN in the environment, thus providing a wireless communication infrastructure for mobile robot teleoperation. An operator th...
متن کاملStable Kinematic Teleoperation of Wheeled Mobile Robots with Slippage using Time-Domain Passivity Control
Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...
متن کاملKinematic Bilateral Teleoperation of Wheeled Mobile Robots Subject to Longitudinal Slippage
With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot’s linear velocity foll...
متن کامل