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Internet-based Real-time obstacle avoidance of a mobile robot

机译:基于Internet的移动机器人实时避障

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摘要

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A teleoperated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow viewangles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.
机译:在这项研究中,已经开发并实现了一种远程控制系统,该系统将实时自动避障与力反射遥操作相结合。远程操作的移动机器人由操作员在监视屏幕时握住的本地两自由度力反射操纵杆控制。在该系统中,力反射操纵杆将移动机器人与环境之间的关系转换为虚拟力,该虚拟力以新的碰撞矢量的形式生成并反映给操作员。这种反射的力使移动机器人的遥操作在不确定且障碍物密集的远程环境中免受碰撞。由本地操作员控制的移动机器人通常会拍摄远程环境的图片,并将图像通过Internet发送回给操作员。由于通信带宽的限制和照相机的狭窄视角,操作员无法经常观察阴影区域和弯曲空间。为了克服这个问题,根据障碍物和移动机器人之间的距离和接近速度,沿着碰撞矢量生成了一种新形式的虚拟力,该虚拟力是从超声波传感器获得的。该虚拟力通过Internet传递回两自由度主操纵杆,从而使操作员能够感觉到移动机器人与障碍物之间的几何关系。通过实验证明,这种触觉反射可以显着提高遥控移动机器人的性能。

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