Abstract: | |
This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with. © 2011 Cambridge University Press.
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License of this version: | Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich. |
Publication type: | Article |
Publishing status: | publishedVersion |
Publication date: | 2012 |
Keywords english: | Human operator, Mobile robots, Path planning, Supervisory control, Time-delayed teleoperation, Human operator, Indoor environment, Path planners, Robot teleoperation, Sampling-based, Supervisory control, Time-delayed teleoperation, Variable time delay, Artificial intelligence, Degrees of freedom (mechanics), Mobile robots, Remote control, Time delay, Motion planning |
DDC: | 620 | Ingenieurwissenschaften und Maschinenbau, 004 | Informatik |
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