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

Published online by Cambridge University Press:  17 March 2009

Emanuel Slawiñski  and
Vicente Mut
Emanuel Slawiñski*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
*
*Corresponding author. E-mail: [email protected]
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Summary

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 operator's 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.

Keywords

Augmented realityMobile robotsPredictionTeleoperationTime delay
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 11 - 22
Copyright
Copyright © Cambridge University Press 2009

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