대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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- Pages.1983-1986
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- 2006
이동로봇 원격조작를 위한 인터넷기반 제어시스템에 관한 연구
A Study of the Teleoperation for Mobile Robots based on Internet
- 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
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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