Autonomous and teleoperation control of a mobile robot

RICARDO CARELLI; GUILLERMO FORTE; LUIS CANALI; OSCAR NASISI; GASTÓN ARAGUÁS; VICENTE MUT; EDUARDO DESTÉFANIS; JOSÉ POSTIGO

San Juan - Argentina

Jornada; JAR 2004; 2004

Instituto de Automática de la Facultad de Ingeniería INAUT de la Universidad Nacional de San Juan y por el Grupo de Investigación en Informática para la Ingeniería (GIII) de la Universidad Tecnológica Nacional, Facultad Regional Córdoba

Abstract-- The work described in this article proposes a control structure to combine the autonomous and teleoperation command of a bicycle-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 controller 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 measurements have also been done.