INVESTIGADORES
MUT Vicente Antonio
artículos
Título:
Teleoperation of a mobile robot with time-varying delay and force feedback
Autor/es:
SLAWIÑSKI E.; MUT V.; SALINAS L.; GARCIA S.
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Lugar: Cambridge; Año: 2011 vol. 30 p. 67 - 77
ISSN:
0263-5747
Resumen:
This paper proposes a prediction system and a command fusion to help the human operator in a teleoperation system of a mobile robot with time-varying delay and force feedback. The command fusion is used to join the control signals provided by both an autonomous controller and the delayed user?s commands provided from a joystick and steering wheel while he/she receives visual and force feedback. The future trajectory of the mobile robot is not known a priori being it decided online by the user. Then, a predictor is proposed too. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.
