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

  • S. E. García (a1), E. Slawiñski (a1), V. Mut (a1) and F. Penizzotto (a1)
Summary
SUMMARY

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.

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*Corresponding author. E-mail: sebasg@outlook.com
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This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

2. E. Slawiñski , et al.PD-like controller with impedance for delayed bilateral teleoperation of mobile robots.” Robotica 34 (9), 21512161, (2016).

3. F. Penizzotto , S. García , E. Slawiñski and V. Mut , “Delayed bilateral teleoperation of wheeled robots including a command metric,” Math. Probl. Eng. 2015, pp. 13, (2015).

5. T. Fong , C. Thorpe and C. Baur , “Multi-robot remote driving with collaborative control,” IEEE Trans. Ind. Electron. 50 (4), 699704 (2003).

9. E. J. Rodríguez-Seda , J. J. Troy , C. A. Erignac , P. Murray , D. M. Stipanovic and M. W. Spong , “Bilateral teleoperation of multiple mobile agents: Coordinated motion and collision avoidance,” IEEE Trans. Control Syst. Technol. 18 (4), 984992 (2010).

12. N. Young Chong , S. Kawabata , K. Ohba , T. Kotoku , K. Komoriya , K. Takase and K. Tanie , “Multioperator teleoperation of multirobot systems with time delay: Part i. Aids for collision-free control,” Presence: Teleoperators Virtual Environ. 11 (3), 277291 (2002).

25. X. Yang , L. M. Alvarez and T. Bruggemann , “A 3D collision avoidance strategy for UAVs in a non-cooperative environment,” J. Intell. Robot. Syst. 70 (1–4), 315327 (2013).

26. P. Fiorini and Z. Shiller , “Motion planning in dynamic environments using velocity obstacles,” Int. J. Robot. Res. 17 (7), 760772 (1998).

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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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García supplementary material S1
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40.6 MB
VIDEO
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García supplementary material S2
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