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.
Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
2012-01-01
Robotica 30 (2012), Nr. 3
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Human operator , Mobile robots , Path planning , Supervisory control , Time-delayed teleoperation , Indoor environment , Path planners , Robot teleoperation , Sampling-based , Variable time delay , Artificial intelligence , Degrees of freedom (mechanics) , Remote control , Time delay , Motion planning , ddc:620 , ddc:004
Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
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