Control using Prediction for Teleoperation of Mobile Robots
This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Unlike other strategies, this work includes the human operator's decision in the proposed controller in order to improve the performance of the teleoperation system. The human operator's...
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| creator | Slawinski, E. Mut, V. |
| description | This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Unlike other strategies, this work includes the human operator's decision in the proposed controller in order to improve the performance of the teleoperation system. The human operator's decision is estimated using both a prediction algorithm placed on the local site and a Kalman filter placed on the remote site. In addition, the position generated by the predictor is overlapped with the image back-fed to the human operator (3D augmented reality), improving the information perceived by him. Finally, to illustrate the performance of the proposed control structure, several teleoperation experiments in presence of various delays are shown. |
| doi_str_mv | 10.1109/ICMA.2007.4303820 |
| format | Conference Proceeding |
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Unlike other strategies, this work includes the human operator's decision in the proposed controller in order to improve the performance of the teleoperation system. The human operator's decision is estimated using both a prediction algorithm placed on the local site and a Kalman filter placed on the remote site. In addition, the position generated by the predictor is overlapped with the image back-fed to the human operator (3D augmented reality), improving the information perceived by him. Finally, to illustrate the performance of the proposed control structure, several teleoperation experiments in presence of various delays are shown.</description><subject>Augmented reality</subject><subject>Automatic control</subject><subject>Control system analysis</subject><subject>Control systems</subject><subject>Delay effects</subject><subject>human operator</subject><subject>Humans</subject><subject>Mobile robots</subject><subject>prediction</subject><subject>Prediction algorithms</subject><subject>Robotics and automation</subject><subject>teleoperation</subject><subject>time delay</subject><subject>Wheels</subject><issn>2152-7431</issn><issn>2152-744X</issn><isbn>9781424408276</isbn><isbn>142440827X</isbn><isbn>9781424408283</isbn><isbn>1424408288</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkMtKw0AYhccbWGoeQNzMCyTOP_9kLrgqwWqhRZEK7koyFxmJmTKJC99e0SJ4Nh-cD87iEHIJrAJg5nrVbBYVZ0xVAhlqzo5IYZQGwYVgmms8JjMONS-VEC8n_5ySp38O4ZwU4_jGvoOmlkLPyE2Thimnnn6McXilj9m7aKeYBhpSplvf-7T3uf1pUqCb1MXe06fUpWm8IGeh7UdfHDgnz8vbbXNfrh_uVs1iXUZQ9VQqDA45R6PBWAetCzyouvPCdSJIKbWW1irnfOha56zzXCJYJrGtwRgJOCdXv7vRe7_b5_je5s_d4Qr8AjUYTag</recordid><startdate>200708</startdate><enddate>200708</enddate><creator>Slawinski, E.</creator><creator>Mut, V.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200708</creationdate><title>Control using Prediction for Teleoperation of Mobile Robots</title><author>Slawinski, E. ; Mut, V.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-73fd32239819cd1adf2f75be4db4f666886cc7ddefbaddcde2631c063a5199613</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Augmented reality</topic><topic>Automatic control</topic><topic>Control system analysis</topic><topic>Control systems</topic><topic>Delay effects</topic><topic>human operator</topic><topic>Humans</topic><topic>Mobile robots</topic><topic>prediction</topic><topic>Prediction algorithms</topic><topic>Robotics and automation</topic><topic>teleoperation</topic><topic>time delay</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Slawinski, E.</creatorcontrib><creatorcontrib>Mut, V.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Slawinski, E.</au><au>Mut, V.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Control using Prediction for Teleoperation of Mobile Robots</atitle><btitle>2007 International Conference on Mechatronics and Automation</btitle><stitle>ICMA</stitle><date>2007-08</date><risdate>2007</risdate><spage>1782</spage><epage>1787</epage><pages>1782-1787</pages><issn>2152-7431</issn><eissn>2152-744X</eissn><isbn>9781424408276</isbn><isbn>142440827X</isbn><eisbn>9781424408283</eisbn><eisbn>1424408288</eisbn><abstract>This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Unlike other strategies, this work includes the human operator's decision in the proposed controller in order to improve the performance of the teleoperation system. The human operator's decision is estimated using both a prediction algorithm placed on the local site and a Kalman filter placed on the remote site. In addition, the position generated by the predictor is overlapped with the image back-fed to the human operator (3D augmented reality), improving the information perceived by him. Finally, to illustrate the performance of the proposed control structure, several teleoperation experiments in presence of various delays are shown.</abstract><pub>IEEE</pub><doi>10.1109/ICMA.2007.4303820</doi><tpages>6</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Augmented reality Automatic control Control system analysis Control systems Delay effects human operator Humans Mobile robots prediction Prediction algorithms Robotics and automation teleoperation time delay Wheels |
| title | Control using Prediction for Teleoperation of Mobile Robots |
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