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http://dx.doi.org/10.14372/IEMEK.2022.17.2.109

Design of Teleoperation System for Ackermann-steering Mobile Robot considering Driving Stability  

Lee, Dong-Hyun (Kumoh National Institute of Technology)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.17, no.2, 2022 , pp. 109-114 More about this Journal
Abstract
This paper proposes a 2D joystick and LoRa-based teleoperation system for the Ackermman steering mobile robot. The proposed joystick mapping algorithm reduces the linear speed of the robot when the joystick is steered in the direction of the maximum steering angle in the high-speed driving state of a mobile robot to reduce the risk of rollover. The LoRa-based remote operation system is designed for remote operation of mobile robots that require long range communication with relatively little data transmission and low power. The proposed system is implemented and the experimental results demonstrate the effectiveness of the teleoperation system with respect to the stability of communication strength and the robot motion.
Keywords
Ackermann-steering Mobile robot; Joystick mapping algorithm; Teleoperation;
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