Teleautonomous guidance for mobile robots (original) (raw)

Autonomous and teleoperation control of a mobile robot

Mechatronics, 2008

The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands in a bicycle-type mobile robot. This compounded operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking control system is proved to be stable in the sense that it asymptotically reaches the tracking objective. Teleoperation with visual access to the robot's workspace is integrated via a joystick with the autonomous operation of the robot. Simulations and experimental results on a prototype robot show the feasibility and performance of the proposed control system.

Stable teleoperation of mobile robots

Mechatronics and Automation, …

This paper proposes a stable control scheme for bilateral teleoperation of mobile robots in presence of obstacles and time-varying delay. The proposed control scheme is composed by a velocity controller on board the mobile robot and a time-delay compensation placed on both the local and remote sites of the teleoperation system. Finally, experiments on a mobile robot teleoperated by a human operator with visual feedback through Internet are shown.

Real-time Obstacle Avoidance for Fast Mobile Robots 12

1998

A new real-time obstacle avoidance approach for mobile robots has been developed and implemented. This approach permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advancing toward the target. The novelty of this approach, entitled the Virtual Force Field, lies in the integration of two known concepts: Cer- tainty Grids for

Development of an Autonomous Real Time Collision Avoidance Mobile Robot

International Journal for Research in Applied Science & Engineering Technology (IJRASET), 2022

In most circumstances, mobile robots are stated to be autonomous, with collision avoidance being a crucial aspect of designing an autonomous mobile robot. The goal of this paper is to create a simple autonomous real-time collision-avoidance mobile robot that moves to utilise ultrasonic sensors and infrared modules. In this paper, a collision-avoidance mobile robot is designed with built-in intelligence that guides itself whenever an impediment is in its way and manoeuvre around them without any collision. This robotic vehicle is built with an AT Mega 328 microcontroller. An ultrasonic sensor detects any obstacles ahead of it and on either side of the robot, there are two infrared (IR) modules integrates to detect the obstructions and transmit an instruction to the microcontroller. The error generation is decreased with the help of the Kalman filter. Based on the input signal from different sensor integrated in the robot the microcontroller instructs to travel in a various direction by actuating the motors connected to it via a motor driver.

Bilateral teleoperation of multiple mobile agents: Coordinated motion and collision avoidance

2010

This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we incorporate avoidance functions to guarantee collision-free transit through obstructed spaces. The unified control framework is validated by experiments with two coaxial helicopters as slave agents and a haptic device as the master robot.

Mobile robot navigation with distance control

2012 International Conference of Robotics and Artificial Intelligence, 2012

Intelligent systems to increase the road safety have been widely applied in the automotive sector; similarly, they have critical importance in the robotics to navigate the robot safely. Automatic distance control system helps to avoid collision between vehicles. In this paper, we present an algorithm to maintain a distance between the robot and the object. It keeps the autonomous mobile robot at a safe distance from the object. It is implemented in a wheeled mobile robot to track the moving object. The surrounding information is obtained through the range sensors that are mounted at the front side of the robot. The central sensor gives instructions for the forward and backward motion, and the other sensors help for the left and right motion. To avoid collision, safety distance, which makes the movement easy in the out of range, stop, and forward and backward modes, is predefined in the mobile robot. Each time the range data is compared with the predefined distance measurements, and the respected function is activated. The robot is characterized due to low cost and simple control architecture. Different experiments were carried out in the indoor and outdoor environments with different objects. The results have shown that the robot tracks the object correctly by maintaining a constant distance from the followed object.

Tele-robot with Shared Autonomy: Distributed Navigation Development Framework

2006

This paper extensively describes the operability of an advanced demonstration platform incorporating reflexive teleoperated control concepts developed on a mobile robot system. By operability, the creation of an opportunity to develop, simulate, tune and test in real-world environment, mobile robot navigation algorithms is meant. During testing in semistructured environments, the use of an inertial tracker in combination with a head mounted display, improves significantly the situational awareness of the operator, creating a certain feeling of presence at the remote site. Both on hardware as well as on software level, system components have been elaborated to form a modular whole. In order to offer the opportunity to researchers/students for distance development of complex algorithms, emphasis is laid on communication between robot and operator, as well as communication between different system components, resulting in a distributed framework. The name of the framework is CoRoBA, which stands for Controlling Robots with CORBA, a standardized and popular middleware.

A collaborative-shared control system with safe obstacle avoidance capability

2004

Tele-operated systems allow humans to extend their physical capabiiities and enable them to intervene in hazardous operations or where their presence is not possible. However, the operation of such systems over long periods has proved to be difficult and stressful. Consequently, means to facilitate their use are the subject of much study and experimental work. In this paper, we propose a collaborative shared control strategy that combines the operator abilities with robotic-based tasks to render these systems more flexible and robust. [n our method, the Collaborative Control component is responsible for allowing operator intervention when the robot is facing complex situations, whilst the Shared Control component provides an automatic control mechanism to assist and to monitor-correct irrational operator actions. The paper will demonstrate how collaborative and shared control strategies work together to facilitate the telcoperated control of a mobile platform in a cluttered environment. The experimental results include applications to surveillance and to search & rescue operations. In addition, a key component in the form of a hybrid obstacle avoidance module is introduced that allows the robot to be guided on a task basis by the operator at a distance.

Autonomous and Teleoperated Control of the AURORA Mobile Robot

IFAC Proceedings Volumes, 1996

This paper presents the main components of a control architecture that allows both autonomous and teleoperated navigation in agricultural and industrial environments with high obstacle density. They support user interaction, task execution, navigation, and feedback control. The architecture combines parollel behavior control concepts with hierarchical organization. Moreover, the architecture allows multi level remote operator intervention for monitoring and control. The paper emphasizes the comp::>nents (sensors and C<lDtrollers) to implement motion and feedback control~ as wen as the teleoperation station integration. The control architecture has been implemented to control the AURORA mobile robot. The efficiency and robustness of the components have been tested in the experiments with this mobile robot. The paper includes a description of an autonomous navigation experiment.