Behavior-Based Approach for Cooperative Control of a Haptic-Driven Mobile Robot

This paper addresses the obstacle avoidance performance of a tele-operated wheeled mobile robot. The robot is equipped with both a camera and a laser range sensor to acquire the necessary data from the surrounding. The communication between the operator and the robot is established by means of a for...

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Bibliographic Details
Published in2019 23rd International Conference on Mechatronics Technology (ICMT) pp. 1 - 5
Main Authors Mohamadi, Yaser, Konukseven, E. Ilhan, Koku, A. Bugra
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2019
Subjects
behavior-based control
Collision avoidance
Force
Haptic interfaces
haptics
human-robot interaction
mobile robot
Mobile robots
obstacle avoidance
Robot sensing systems
Task analysis
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Summary:This paper addresses the obstacle avoidance performance of a tele-operated wheeled mobile robot. The robot is equipped with both a camera and a laser range sensor to acquire the necessary data from the surrounding. The communication between the operator and the robot is established by means of a force-feedback haptic joystick. In order to tackle go-to-goal and obstacle avoidance tasks, behavior-based control methodology has been used. The results of the study show that the proposed cooperative control approach is superior to both fully manual and fully autonomous behavior-based control in terms of number of collisions, time consumed to accomplish the tasks and also the cognitive pressure on the operator.
DOI:10.1109/ICMECT.2019.8932156