Naslov
Dynamic Window based Force Reflection for Safe Teleoperation of A Mobile Robot via Internet

Autori
Babić, Josip ; Budišić, Marko ; Petrović, Ivan ;

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007) / - Zürich : Institute of Electrical and Electronics Engineers (IEEE), 2007, 1-6

ISBN
1-4244-1264-1

Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Mjesto i datum
Zürich, Švicarska, 04.09.2007. - 07.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
teleoperation; mobile robot

Sažetak
The paper presents an Internet-based teleoperation system that enables a human operator to safely control a mobile robot in unknown and dynamic environments. The operator controls the robot using a joystick and a graphical user interface which displays images forwarded from the camera mounted on the robot. A sonar ring on the robot circumference is used to measure obstacle range information, and a dynamic window algorithm is used to convert that information into a force, which is than reflected to the operator's hand via joystick, providing additional haptic information about obstacles in the robot vicinity. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation system is employed to synchronize actions of the operator and teleoperated mobile robot. The experiments with the Pioneer 2DX mobile robot verified effectiveness of the developed system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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