Task-oriented teleoperation systems for groups of mobile robots with time-varying communication delays

Chao Wei Lin, Yen-Chen Liu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
發行者Institute of Electrical and Electronics Engineers Inc.
頁面501-506
頁數6
ISBN(電子)9781479977871
DOIs
出版狀態Published - 2015 十一月 4
事件IEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
持續時間: 2015 九月 212015 九月 23

出版系列

名字2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Other

OtherIEEE Conference on Control and Applications, CCA 2015
國家/地區Australia
城市Sydney
期間15-09-2115-09-23

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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