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

Published online by Cambridge University Press:  11 July 2011

Jorge Nieto ,
Emanuel Slawiñski ,
Vicente Mut  and
Bernardo Wagner
Jorge Nieto*
Affiliation:
Real-Time Systems Group, Leibniz Universität Hannover, D-30167, Germany Instituto de Automática, Universidad Nacional de San Juan, J5400ARL, Argentina
Emanuel Slawiñski
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, J5400ARL, Argentina
Vicente Mut
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, J5400ARL, Argentina
Bernardo Wagner
Affiliation:
Real-Time Systems Group, Leibniz Universität Hannover, D-30167, Germany
*
*Corresponding author. E-mail: nieto@rts.uni-hannover.de
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Summary

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.

Keywords

Mobile robotsTime-delayed teleoperationPath planningSupervisory controlHuman operator
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 351 - 361
Copyright
Copyright © Cambridge University Press 2011

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