Collision Avoidance Method for Multi-Operator Multi-Robot Teleoperation System

MUT, V.; GARCÍA, S.E.; PENIZZOTTO, F.; SLAWIÑSKI, E.

ROBOTICA

CAMBRIDGE UNIV PRESS

Lugar: Cambridge; Año: 2017 vol. 36 p. 78 - 95

0263-5747

This paper proposes a collision avoidance method for teleoperation of multiple nonholonomic mobile robots from multiple users. Each human operator drives a mobilerobot, where each one performs an independent task in a common workspace. To avoidcollisions, the proposed method only acts on the speed of the mobile robots, therefore, the human operator can freely drive the robot over the path he chooses to. The developed analysis allows to assure that a solution is always achieved. Finally, the results of the experiments are shown, in order to test the performance of the proposed control scheme.