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

Robotica ◽  
2017 ◽  
Vol 36 (1) ◽  
pp. 78-95 ◽  
Author(s):  
S. E. García ◽  
E. Slawiñski ◽  
V. Mut ◽  
F. Penizzotto
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Collision Avoidance ◽  
Human Operator ◽  
Multiple Users ◽  
Independent Task ◽  
Teleoperation System ◽  
Control Scheme ◽  
Multi Robot

SUMMARYThis 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.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

scholarly journals Edge-weighted consensus-based formation control strategy with collision avoidance

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 332-347 ◽  
Author(s):  
Riccardo Falconi ◽  
Lorenzo Sabattini ◽  
Cristian Secchi ◽  
Cesare Fantuzzi ◽  
Claudio Melchiorri
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Formation Control ◽  
Weighted Graphs ◽  
Wheeled Robots ◽  
Unknown Environments ◽  
Multi Robot

SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

SIMULATION ◽  
2019 ◽  
Vol 96 (2) ◽  
pp. 169-183
Author(s):  
Saumya R Sahoo ◽  
Shital S Chiddarwar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Simulation Model ◽  
Vision System ◽  
Control Input ◽  
Hardware In The Loop ◽  
Omnidirectional Mobile Robot ◽  
Time Simulation ◽  
Control Scheme ◽  
Hil Simulation

Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

Force and Position–Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1768-1784 ◽  
Author(s):  
E. Slawiñski ◽  
V. Moya ◽  
D. Santiago ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Force Feedback ◽  
General Structure ◽  
Feedback System ◽  
Human Operator ◽  
Bilateral Teleoperation ◽  
Control Scheme ◽  
Communication Time ◽  
Remote Environment ◽  
Novel Model

SummaryThis document proposes a control scheme for delayed bilateral teleoperation of a mobile robot, which it is sought to achieve a coordination of the master device position with the slave mobile robot velocity, and at the same time synchronize the force exerted by the operator with force applied by the environment over the mobile robot. This approach allows the operator to improve the sensitive perception of the remote environment in which the robot navigates while he generates commands to control the mobile robot motion. In this paper, variable and asymmetrical communication time delays are taken into account, as well as a non-passive model of the human operator, for which a novel model is proposed that has a more general structure than the typical ones used to date in the teleoperation field. Furthermore, based on the theoretical analysis presented, the state of convergence in the stationary response is obtained. In addition, an experimental performance evaluation is carried out, where the position–velocity error, force error and the time to complete the task are evaluated. In the tests, a human operator commands a remote mobile robot to push objects of different weight while he perceives the weight of each object through the force feedback system. As an outcome, the theoretical and practical results obtained allow concluding that a satisfactory trade-off between stability and transparency is reached.

Decentralized Multi-Robot Teams Using Wheeled Manipulation for Object Transportation

2012 ◽  
Author(s):  
Tyson L. Ringold ◽  
Raymond J. Cipra
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Dynamic Simulation ◽  
Carrying Capacity ◽  
Arbitrary Number ◽  
Object Interaction ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Object Transportation ◽  
Multi Robot

Object transportation is an especially suitable task for cooperative mobile robots where the carrying capacity of an individual robot is naturally limited. In this work, a unique wheeled robot is presented that, when used in homogeneous teams, is able to lift and carry objects which may be significantly larger than the robot itself. A key feature of the presented robot is that it is devoid of articulated manipulation mechanisms, but instead relies on its drive wheels for object interaction. After a brief introduction to the mechanics of this mobile robot, a behavior-based lifting and carrying strategy is developed that allows the robot to cooperatively raise an object from the ground, transition into a carrying role, and then transport the object across cluttered, unstructured terrain. The strategy is inherently decentralized, allowing an arbitrary number of robots to participate in the transportation task. Dynamic simulation results are then presented, showing the effectiveness of the strategy.

scholarly journals Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Franco Penizzotto ◽  
Sebastian García ◽  
Emanuel Slawiñski ◽  
Vicente Mut
Keyword(s):  
Mobile Robot ◽  
System Architecture ◽  
Communication Channel ◽  
Force Feedback ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Wheeled Robots ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

Distributed Collision-Avoiding Deployment Control of Multiple Nonholonomic Mobile Robots

2011 ◽  
Author(s):  
Xionghui Lu ◽  
Yu Zhou ◽  
Xu Zhong
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Control Algorithm ◽  
Control Input ◽  
General Control ◽  
Nonholonomic Mobile Robots ◽  
Potential Force ◽  
Performance Factors ◽  
Control Framework ◽  
Control Scheme

This paper presents a distributed second-order control algorithm for deploying a group of nonholonomic mobile robots into an unknown environment to establish and maintain desired sensor coverage. The general control framework is formulated based on Hamilton’s principle. The control input is defined in the form of a potential/force field. A multi-robot collision avoidance scheme is also presented. The effectiveness of the proposed deployment control scheme is verified through both simulations and experiments. Main performance factors, including equilibrium deployment configuration, convergence of inter-robot coverage distance and collision avoidance, are presented and analyzed.

Investigation of Formation Control Approaches Considering the Ability of a Mobile Robot

2018 ◽  
Vol 7 (1) ◽  
pp. 18
Author(s):  
Hannes Wind ◽  
Oliver Sawodny ◽  
Thomas Br•aunl
Keyword(s):  
Literature Review ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Collision Avoidance ◽  
Formation Control ◽  
Realistic Model ◽  
Simulation Studies ◽  
The Real ◽  
Comprehensive Literature Review

This work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identi ed with measurements from actual mo-bile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the pro-posed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satis ed, an implementation on the real robots is possible.

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