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Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning
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- status-type:publishedVersion
- doc-type:Article
- doc-type:Text
- 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
- ddc:004