Title

A Control Paradigm For Decoupled Operation Of Mobile Robots In Remote Environments

Keywords

Mobile robots; Robot simulation; Tele-operation; Virtual environments

Abstract

Remote operation of robots in distant environments presents a significant challenge for direct control due to inherent issues with latency and available bandwidth. Purely autonomous behaviors in such environments come with the associated risks of failure. It may be advantageous to acquire information about the environment from the robot's onboard sensors, to re-create a simulation and plan a mission beforehand. The planned mission can then be uploaded to the robot for execution, allowing the physical robot to handle the autonomy required for completing its task. In this paper, the foundations of a control paradigm are presented that uses a simulated virtual environment to decouple the operator from the physical robot, thus circumventing latency problems. To achieve this, it is first required to accurately model the robot's kinematic parameters for use in the simulation. Kalman filtering techniques that demonstrate this modeling for a differential drive robot are presented in this paper. The estimated parameters are then used as inputs to a modular planning and execution module. Based on simulation results, a safe and non-redundant path can then be uploaded and executed on the real robot.

Publication Date

6-18-2012

Publication Title

GRAPP 2012 IVAPP 2012 - Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications

Number of Pages

553-561

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

84862168251 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84862168251

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