Collision avoidance method for multi-operator multi-robot teleoperation system

被引：3
|
作者：
Garcia, S. E. [1 ]
Slawinski, E. [1 ]
Mut, V. [1 ]
Penizzotto, F. [2 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, San Juan, Argentina
[2] Univ Nacl San Juan, Inst Energia Elect, San Juan, Argentina
来源：
ROBOTICA | 2018年 / 36卷 / 01期
关键词：
Multi-operator; Multi-robot; Teleoperation system; Collision Avoidance; Mobile Robots; DELAYED COMMUNICATION-NETWORKS; MULTIOPERATOR TELEOPERATION; BILATERAL TELEOPERATION; COOPERATIVE ROBOTS; MOBILE ROBOT; TIME-DELAY;
D O I：
10.1017/S0263574717000169
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：78 / 95
页数：18
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