TY - GEN
T1 - Task-oriented teleoperation systems for groups of mobile robots with time-varying communication delays
AU - Lin, Chao Wei
AU - Liu, Yen Chen
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/4
Y1 - 2015/11/4
N2 - This paper presents system framework and control algorithm for a human operator to remotely teleoperate a group of mobile robots over a network with time-varying delays. By utilizing the task-space technique adopted from control of redundant robotic manipulator, a human operator is able to command the task abstraction of a multi-robot system under the proposed architecture. Given the control gains, which are contingent on the upper bound of the round-trip delays, stability and tracking performance in the task space can be guaranteed. Moreover, the sub-task control in the null space of the multi-robot system can be utilized for mobile robots to achieve additional missions other than tracking the task functions. Experiments on a robotic manipulator and a group of differential-driven mobile robots are introduced to validate the proposed bilateral teleoperation system.
AB - This paper presents system framework and control algorithm for a human operator to remotely teleoperate a group of mobile robots over a network with time-varying delays. By utilizing the task-space technique adopted from control of redundant robotic manipulator, a human operator is able to command the task abstraction of a multi-robot system under the proposed architecture. Given the control gains, which are contingent on the upper bound of the round-trip delays, stability and tracking performance in the task space can be guaranteed. Moreover, the sub-task control in the null space of the multi-robot system can be utilized for mobile robots to achieve additional missions other than tracking the task functions. Experiments on a robotic manipulator and a group of differential-driven mobile robots are introduced to validate the proposed bilateral teleoperation system.
UR - http://www.scopus.com/inward/record.url?scp=84964345893&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2015.7320679
DO - 10.1109/CCA.2015.7320679
M3 - Conference contribution
AN - SCOPUS:84964345893
T3 - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
SP - 501
EP - 506
BT - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Conference on Control and Applications, CCA 2015
Y2 - 21 September 2015 through 23 September 2015
ER -