Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Real time planning method for multiple mobile robots
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Stability analysis of mobile robot teleoperation with variable force feedback gain
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
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In this paper, we have developed and implemented a system that combines autonomous obstacle avoidance with force-reflective tele-operation. In this system, a tele-operated 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. The force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force. A virtual force is generated in the form of a new collision vector and reflected to the operator, which 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 view-angles of the camera, the operator cannot observe shadow regions and curved spaces. 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 a master (two degrees of freedom 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.