INVESTIGADORES
MUT Vicente Antonio
artículos
Título:
Towards safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
Autor/es:
NIETO J.; SLAWIÑSKI E.; MUT V.; WAGNER B.
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Lugar: Cambridge; Año: 2011 vol. 30 p. 351 - 361
ISSN:
0263-5747
Resumen:
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 maximal time delay of 2 seconds was successfully coped with.
