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Collision avoidance method for multi-operator multi-robot teleoperation system

Published online by Cambridge University Press:  03 April 2017

S. E. García ,
E. Slawiñski ,
V. Mut  and
F. Penizzotto
S. E. García*
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina. E-mails: sebasg@outlook.com, slawinski@inaut.unsj.edu.ar, vmut@inaut.unsj.edu.ar
E. Slawiñski
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina. E-mails: sebasg@outlook.com, slawinski@inaut.unsj.edu.ar, vmut@inaut.unsj.edu.ar
V. Mut
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina. E-mails: sebasg@outlook.com, slawinski@inaut.unsj.edu.ar, vmut@inaut.unsj.edu.ar
F. Penizzotto
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina. E-mails: sebasg@outlook.com, slawinski@inaut.unsj.edu.ar, vmut@inaut.unsj.edu.ar
*
*Corresponding author. E-mail: sebasg@outlook.com
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Summary

This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent task in a common workspace. To avoid collisions, the proposed method only acts on the speed of the mobile robots; therefore, the human operator can freely drive the robot over the path he chooses to. The developed analysis allows us to assure that a solution is always achieved. Finally, the results of the experiments are shown, in order to test the performance of the proposed control scheme.

Keywords

Multi-operatorMulti-robotTeleoperation systemCollision AvoidanceMobile Robots
Type
Articles
Information
Robotica , Volume 36 , Issue 1 , January 2018 , pp. 78 - 95
Copyright
Copyright © Cambridge University Press 2017 

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