Collision avoidance method for multi-operator multi-robot teleoperation system
This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent task in a common workspace. To avoid collisions, the proposed method only acts on the...
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| Veröffentlicht in: | Robotica 2018-01, Vol.36 (1), p.78-95 |
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| container_title | Robotica |
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| creator | García, S. E. Slawiñski, E. Mut, V. Penizzotto, F. |
| description | This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent task in a common workspace. To avoid collisions, the proposed method only acts on the speed of the mobile robots; therefore, the human operator can freely drive the robot over the path he chooses to. The developed analysis allows us to assure that a solution is always achieved. Finally, the results of the experiments are shown, in order to test the performance of the proposed control scheme. |
| doi_str_mv | 10.1017/S0263574717000169 |
| format | Article |
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E.</au><au>Slawiñski, E.</au><au>Mut, V.</au><au>Penizzotto, F.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Collision avoidance method for multi-operator multi-robot teleoperation system</atitle><jtitle>Robotica</jtitle><addtitle>Robotica</addtitle><date>2018-01</date><risdate>2018</risdate><volume>36</volume><issue>1</issue><spage>78</spage><epage>95</epage><pages>78-95</pages><issn>0263-5747</issn><eissn>1469-8668</eissn><abstract>This paper proposes a collision avoidance method for the teleoperation of multiple non-holonomic mobile robots from multiple users. Each human operator drives a mobile robot, where each one performs an independent task in a common workspace. To avoid collisions, the proposed method only acts on the speed of the mobile robots; therefore, the human operator can freely drive the robot over the path he chooses to. The developed analysis allows us to assure that a solution is always achieved. 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| ispartof | Robotica, 2018-01, Vol.36 (1), p.78-95 |
| issn | 0263-5747 1469-8668 |
| language | eng |
| recordid | cdi_proquest_journals_1973008666 |
| source | Cambridge Journals |
| subjects | Collision avoidance Collisions Multiple robots Robots |
| title | Collision avoidance method for multi-operator multi-robot teleoperation system |
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