Abstract
This paper proposes a prediction system and a command fusion to help the human operator in a teleoperation system of a mobile robot with time-varying delay and force feedback. The command fusion is used to join a remote controller and the delayed user's commands. Besides, a predictor is proposed since the future trajectory of the mobile robot is not known a priori being it decided online by the user. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.
| Original language | English |
|---|---|
| Pages (from-to) | 67-77 |
| Number of pages | 11 |
| Journal | Robotica |
| Volume | 30 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1 Jan 2012 |
Bibliographical note
Funding Information:This work was partially supported by the Consejo Nacional
Keywords
- Force feedback
- Mobile robots
- Teleoperation
- Time-varying delay