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http://dx.doi.org/10.5302/J.ICROS.2006.12.3.264

Wireless LAN based Teleoperation of Mobile Robots  

Kang Hee-Jun (울산대학교 전기전자공학부)
Suh Young-Soo (울산대학교 전기전자공학부)
Ro Young-Shick (울산대학교 전기전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.3, 2006 , pp. 264-268 More about this Journal
Abstract
In this paper, we construct the infrastructure with wireless LAN 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.
Keywords
teleoperation; mobile robots; force-reflection; obstacle avoidance;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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