대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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이동로봇 원격조작를 위한 인터넷기반 제어시스템에 관한 연구

A Study of the Teleoperation for Mobile Robots based on Internet

  • 노영식 (울산대학교 전기전자정보시스템 공학부) ;
  • 강희준 (울산대학교 전기전자정보시스템 공학부) ;
  • 정기수 (울산대학교 전기전자정보시스템 공학부)
  • Ro, Young-Shick (School of Electrical Engineering, University of Ulsan) ;
  • Kang, Hee-Jun (School of Electrical Engineering, University of Ulsan) ;
  • Jung, Ki-Su (School of Electrical Engineering, University of Ulsan)
  • 발행 : 2006.07.12
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초록

In this paper, we construct the infrastructure for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

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