Teleoperation of Autonomous Mobile Robot under Limited Feedback Information View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1998

AUTHORS

Kuniaki Kawabata , Tatsuya Ishikawa , Teruo Fujii , Takashi Noguchi , Hajime Asama , Isao Endo

ABSTRACT

In this paper, we describe human-robot collaborative task execution in a teleoperated system under restricted consitions in which feedback information to the operator is limited. The system is constructed for remote maneuvering of a mobile robot via the Internet using a joystick as an input device. The feedback to the operator is only image taken from the onboard camera of the robot, which are displayed on a monitor screen. Thus, the operator has to maneuver the robot with quite limited information of the remote environment. In such a case, lower level control, such as collision avoidance, local path planning, motion control, etc., should be managed by the robot’s autonomous functions. We constructed the collaborative teleoperation system for omni-directional mobile robots equipped with infrared sensing systems. The performance and effectiveness of the constructed system are demonstrated through the teleoperation experiment via the Internet. More... »

PAGES

146-151

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-1-4471-1273-0_24

DOI

http://dx.doi.org/10.1007/978-1-4471-1273-0_24

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1030083478


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