Stable mobile robots teleoperation via Potential Field method

Author

Cahyadi, Adha I. ; Ya-Chun, Chang ; Yamamoto, Yoshio

Author_Institution

Dept. of Precision Eng., Tokai Univ., Hiratsuka

fYear

2008

fDate

2-5 July 2008

Firstpage

347

Lastpage

352

Abstract

This paper presents a remotely teleoperated vehicle such as mobile robot using haptic device. The teleoperation system is based on the Potential Field method especially for detecting the presence of obstacles. A feedback linerization scheme is employed to render the mobile robot to be a passive system. As the interaction with the obstacle based on the potential field method is passive by nature, with additional assumption that the user is skilled, the connection between the haptic device and the mobile robot is guaranteed to be stable. In this preliminary work, in order to simplify the controller development, no communication channel delay is assumed.

Keywords

feedback; haptic interfaces; linearisation techniques; mobile robots; remotely operated vehicles; telerobotics; feedback linerization scheme; haptic device; potential field method; remotely teleoperated vehicle; stable mobile robots teleoperation; teleoperation system; Automotive engineering; Communication system control; Control systems; Equations; Haptic interfaces; Linear feedback control systems; Mobile robots; Output feedback; Robot kinematics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on

Conference_Location

Xian

Print_ISBN

978-1-4244-2494-8

Electronic_ISBN

978-1-4244-2495-5

Type

conf

DOI

10.1109/AIM.2008.4601685

Filename

4601685