A haptic shared control approach to teleoperation of mobile robots

2015 ◽  
Author(s):  
Ningbo Yu ◽  
Kui Wang ◽  
Yuan Li ◽  
Chang Xu ◽  
Jingtai Liu
Keyword(s):  
Mobile Robots ◽  
Shared Control ◽  
Control Approach

A Switched-System Approach to Shared Robust Control and Obstacle Avoidance for Mobile Robots

2014 ◽  
Author(s):  
Jingfu Jin ◽  
Nicholas Gans ◽  
Yoon-Gu Kim ◽  
Sung-Gil Wee
Keyword(s):  
Robust Control ◽  
Mobile Robots ◽  
Obstacle Avoidance ◽  
System Approach ◽  
Variable Structure ◽  
Switched System ◽  
Shared Control ◽  
Nonholonomic Mobile Robots ◽  
Control Approach ◽  
Free Region

We propose a shared control structure for nonholonomic mobile robots, in which a human operator can command motions that override autonomous operation, and the robot overrides either the teleoperation or autonomous controller if it encounters an obstacle. We divide the whole configuration, including orientation, space into an obstacle avoidance and an obstacle-free region. This enables a switched-system approach to switch between autonomous and teleoperation mode, or the obstacle avoidance and the obstacle-free region. To reject disturbances or noise present in the error dynamics, two different robust control laws are proposed using a high gain and a variable structure approach. Lyapunov-based stability analysis is provided. To rigorously test the approach under different circumstances, experiments have been conducted by two different research groups. The results from two groups show that the shared control approach works effectively both in the teleoperation mode and autonomous mode with different system settings and environments.

scholarly journals VFH+ based shared control for remotely operated mobile robots

2020 ◽  
Author(s):  
Pantelis Pappas ◽  
Manolis Chiou ◽  
Georgios-Theofanis Epsimos ◽  
Grigoris Nikolaou ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robots ◽  
Shared Control

scholarly journals Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875457 ◽  
Author(s):  
Héctor M Becerra ◽  
J Armando Colunga ◽  
Jose Guadalupe Romero
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Orientation Angle ◽  
Robust Tracking ◽  
Robust Controllers ◽  
Wheeled Mobile Robots ◽  
Control Approach ◽  
Position And Orientation ◽  
Robot Position

This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

scholarly journals A Teleoperation Framework for Mobile Robots Based on Shared Control

2020 ◽  
Vol 5 (2) ◽  
pp. 377-384 ◽  
Author(s):  
Jing Luo ◽  
Zhidong Lin ◽  
Yanan Li ◽  
Chenguang Yang
Keyword(s):  
Mobile Robots ◽  
Shared Control

Dynamic Task Selection in Learning Arithmetic: The Role of Learner Control and Adaptation Based on a Hierarchy of Skills 1Dieser Beitrag wurde unter der geschäftsführenden Herausgeberschaft von Jens Möller angenommen

2012 ◽  
Vol 26 (1) ◽  
pp. 043-055 ◽  
Author(s):  
Wolfgang Schoppek
Keyword(s):  
Cognitive Load ◽  
Shared Control ◽  
Computer Assisted ◽  
Word Problem Solving ◽  
Control Approach ◽  
Dynamic Task ◽  
Instructional Control ◽  
Assisted Instruction ◽  
Selection Of

Abstract.The effects of locus of instructional control in computer-assisted practice of arithmetic skills and word problem solving were investigated in a field experiment with 13 third grade classes. In a program-controlled condition (n = 95), the selection of practice problems was based on a hypothetical hierarchy of skills. This was expected to regulate cognitive load to a moderate level. In a condition with shared control (n = 89), subjects could select problems from a subset provided by the program. Results show that program-controlled selection of problems based on the hierarchy of skills was more successful in supporting skill development than the students’ selection. In the shared control condition, students tended to select too easy problems, regardless of their level of expertise. Both conditions with computer assisted instruction caused more progress than traditional instruction (n = 94). Ways of improving the regulation of cognitive load within a shared control approach are discussed.

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