Autonomous and teleoperation control of a mobile robot

RICARDO CARELLI; GUILLERMO FORTE; LUIS CANALI; OSCAR NASISI; VICENTE MUT; EDUARDO DESTÉFANIS

San Juan

Jornada; . III Jornadas Argentinas de Robótica, JAR´04; 2004

UNSJ

The work described in this article proposes a control structure to combine the autonomous and teleoperation command of a bi-cycle-type mobile robot. This combined operation renders great flexibility to the control system of the mobile robot. The teleoperation is performed by means of a joystick, with the human operator having visual access to the robot workspace. For the autonomous operation, a simple tracking con-troller that includes compensation of the robot dynamics is proposed as well. The controller is shown to be stable in the sense of asymptotically reaching the tracking objective. Simulations show both the feasibility and the performance of the proposed control system. The implementation of the control algorithms as well as same measure-ments have also been done.