This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with. © 2011 Cambridge University Press.


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    Titel :

    Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning


    Beteiligte:
    Nieto, J. (Autor:in) / Slawiñski, E. (Autor:in) / Mut, V. (Autor:in) / Wagner, B. (Autor:in)

    Erscheinungsdatum :

    2012-01-01


    Anmerkungen:

    Robotica 30 (2012), Nr. 3



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    004 / 620 / 629




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