Internet-based Real-time obstacle avoidance of a mobile robot |
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Authors: | Jae Pyung Ko Jang Myung Lee |
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Affiliation: | 1. Department of Electronics Engineering, Pusan National University, 609-735, Pusan, Korea
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Abstract: | In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance
in real-time with force-reflective tele-operation. A teleoperated mobile robot is controlled by a local two-degrees-of-freedom
force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective
joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated
in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile
robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local
operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because
of limitations of communication bandwidth and the narrow viewangles of the camera, the operator cannot observe shadow regions
and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector
according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic
sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable
a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments
that this haptic reflection improves the performance of a tele-operated mobile robot significantly. |
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