Control scheme including prediction and augmented reality for teleoperation of mobile robots

This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operatorʹs model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot "push in the same direction." The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.