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http://dx.doi.org/10.5391/JKIIS.2009.19.4.451

Obstacle avoidance of Mobile Robot with Virtual Impedance  

Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.19, no.4, 2009 , pp. 451-456 More about this Journal
Abstract
In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.
Keywords
Internet based control; Teleoperation; Force reflection; Mobile robot; Obstacle avoidance;
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