Control for Teleoperation of Mobile Robots

EMANUEL SLAWIÑSKI; VICENTE MUT

Buenos Aires, Argentina

Conferencia; International Modeling & Simulation Multiconference 2007 IMSM07; 2007

This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay, where the linking between the human operator and the controller is dealt with. The proposed control scheme is based on estimating where the human operator decides to go; and knowing that, it compensates the delayed velocity command generated by the human operator using the current state of the remote site and the delayed information received by him. The human operator’s decision is estimated using both a prediction algorithm placed on the local site and a Kalman filter placed on the remote site. In addition, the position generated by the predictor is superposed with the image back-fed to the human operator (3D augmended reality), improving the information received by him. Analysis of exponential stability is included, where the achieved stability condition depends on the characteristics of each human operator. On the other hand, the software implementation of the designed control scheme is detailed. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.