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http://dx.doi.org/10.5302/J.ICROS.2014.14.9039

Tactile Navigation System using a Haptic Device  

Lee, Dong-Hyuk (Department of Electrical Engineering, Pusan National University)
Noh, Kyung-Wook (Department of Interdisciplinary Program in Robotics, Pusan National University)
Kang, Sun Kyun (Department of Electrical Engineering, Pusan National University)
Kim, Hyun Woo (Department of Electrical Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.8, 2014 , pp. 807-814 More about this Journal
Abstract
In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.
Keywords
haptic navigation; haptic joystick; haptic device; tele-operation; mobile robot; virtual force; collision vector;
Citations & Related Records
Times Cited By KSCI : 9  (Citation Analysis)
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