Hostname: page-component-77f85d65b8-6c7dr Total loading time: 0 Render date: 2026-04-23T01:19:25.569Z Has data issue: false hasContentIssue false
  • English
  • Français

Control scheme including prediction and augmented reality for teleoperation of mobile robots

Published online by Cambridge University Press:  17 March 2009

Emanuel Slawiñski  and
Vicente Mut
Emanuel Slawiñski*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), J5400ARL San Juan, Argentina.
*
*Corresponding author. E-mail: slawinski@inaut.unsj.edu.ar
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot “push in the same direction.” The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.

Keywords

Augmented realityMobile robotsPredictionTeleoperationTime delay

Information

Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 11 - 22
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Aicardi, M., Casalino, G., Bicchi, A. and Balestrino, A., “Closed loop steering of unicycle-like vehicles via Lyapunov techniques,” IEEE Rob. Automat. Mag. 2, 27–35 (1995).CrossRefGoogle Scholar
2.Anderson, R. J. and Spong, M., “Bilateral control of teleoperators with time delay,” IEEE Trans. Automat. Control 34 (5), 494–501 (1989).CrossRefGoogle Scholar
3.Arcara, P. and Melchiorri, C., “Control schemes for teloperation with time delay: A comparative study,” Rob. Autonom. Syst. 38, 49–64 (2002).CrossRefGoogle Scholar
4.Bejczy, A. K., Kim, W. S. and Venema, S. C., “The Phantom Robot: Predictive Displays for Teleoperation with Time Delay,” Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH (1990) pp. 546–551.Google Scholar
5.Bishop, G. and Welch, G., An Introduction to the Kalman Filter, Course 8 Presented at ACM SIGGRAPH (University of North Carolina, Chapel Hill, 2001).Google Scholar
6.Brady, K. and Tarn, T. J., “Internet-Based Teleoperation,” Proceedings of the 2000 IEEE International Conference on Robotics & Automation, Seoul, Korea (2000) pp. 843–848.Google Scholar
7.Burton, T. A., “Stability and Periodic Solutions of Ordinary and Functional Differential Equations,” In: Mathematics in Science and Engineering, vol. 178 (Academic Press, New York, 1985).Google Scholar
8.Brown, R. and Hwang, P., Introduction to Random Signals and Applied Kalman Filtering, 3rd ed. (John Wiley & Sons, New York, 1997).Google Scholar
9.Chopra, N. and Spong, M. W., “Bilateral Teleoperation over the Internet: the Time Varying Delay Problem,” Proceedings of the American Control Conference, Denver, Colorado (Jun. 4–6, 2003), pp. 155–160.Google Scholar
10.Driver, R. D., “Existence and stability of solutions of a delay-differential system,” Arch. Rational Mech. Anal. 10, 401–426 (1962).CrossRefGoogle Scholar
11.Elhajj, I., Xi, N., Fung, W. K., Liu, Y. H., Hasegawa, Y. and Fukuda, T., “Supermedia-enhanced internet-based telerobotics,” Proc. IEEE 91 (3), 396–421 (2003).CrossRefGoogle Scholar
12.Funda, J. and Paul, R. P., “Teleprogramming: Toward delay-invariant remote manipulation,” Presence: Teleoperators Virtual Environ. 1 (1), 29–44 (1992).CrossRefGoogle Scholar
13.Hernando, M. and Gambao, E., “A Robot Teleprogramming Architecture,” Proceedings of the International Conference on Advanced Intelligent Mechatronics, Port Island, Kobe, Japan (2003) pp. 1113–1118.Google Scholar
14.Hokayem, P. F. and Spong, M. W., “Bilateral teleoperation: An historical survey,” Automatica 42, 2035–2057 (Dec. 2006).CrossRefGoogle Scholar
15.Khalil, H. K., Nonlinear Systems, 2nd ed. (Prentice Hall, New York, 1996). Editorial, ISBN 0–13-228024–8.Google Scholar
16.Kikuchi, J., Takeo, K. and Kosuge, K., “Teleoperation System via Computer Network for Dynamic Environment,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 3534–3539.Google Scholar
17.Kim, W., Hannaford, B. and Bejczy, A., “Force reflection and shared compliant control in operating telemanipulators with time delay,” IEEE Trans. Rob. Automat. 8 (2), 76–185 (1992).CrossRefGoogle Scholar
18.Lawrence, D. A., “Stability and transparency in bilateral teleoperation,” IEEE Trans. Rob. Automat. 9 (5)624–637 (1993).CrossRefGoogle Scholar
19.Leeraphan, S., Maneewan, T. and Laowattana, S., “Stable Adaptive Bilateral Control of Transparent Teleoperation through Time-Varying Delay,” Proceeding of the International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Switzerland (Sep. 30–Oct. 4, 2002).Google Scholar
20.Munir, S. and Book, W. J., “Internet-based teleoperation using wave variables with prediction,” IEEE/ASME Trans. Mechatron. 7 (2), 124–133 (2002).CrossRefGoogle Scholar
21.Niculescu, S. I., Delay Effects on Stability (Springer Verlag, New York, 2001).Google Scholar
22.Niemeyer, G. and Slotine, J. J. E., “Stable adaptive teleoperation,” IEEE J. Oceanic Eng. 16 (1), 152–162 (1991).CrossRefGoogle Scholar
23.Park, J. H. and Cho, H. C., “Sliding-mode Control of Bilateral Teleoperation Systems with Force-Reflection on the Internet,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (2000) pp. 1187–1192.Google Scholar
24.Richard, J. P., “Time-delay systems: an overview of some recent advances and open problems,” Automatica 39, 1667–1694 (2003).CrossRefGoogle Scholar
25.Sheng, J. and Spong, M., “Model Predictive Control for Bilateral Teleoperation Systems with Time Delays,” Proceedings of IEEE CCECE ‘04 – CCGEI ‘04, Niagara Falls (2004) pp. 1877–1880.Google Scholar
26.Sheridan, T. B., Telerobotics, Automation, and Human Supervisory Control (The MIT Press, Cambridge, MA, 1992).Google Scholar
27.Sheridan, T. B., “Teleoperation, telerobotics and telepresence: A progress report,” Control Eng. Pract. 3 (2), 205–214 (1995).CrossRefGoogle Scholar
28.Slawiñski, E., Mut, V. and Postigo, J. F., “Bilateral Teleoperation of Mobile Robots with Delay,” Proceedings of the IEEE ICMA05, Niagara Falls, Canada (2005) pp. 1672–1677.Google Scholar
29.Slawiñski, E., Mut, V. and Postigo, J.F., “Stability of systems with time-varying delay,” Latin Am. Appl. Res. (LAAR), 36 (1), 41–48 (2006).Google Scholar
30.Slawiñski, E., Postigo, J., Mut, V. and Soria, C., “Bilateral Teleoperation of Mobile Robots through Internet,” Proceeding of the 8th International IFAC Symposium on Robot Control SYROCO 2006, Bologna, Italy (2006).CrossRefGoogle Scholar
31.Slawiñski, E., Postigo, J. and Mut, V., “Stable Teleoperation of Mobile Robots,” Proceeding of the IEEE ICMA 2006, China (2006) pp. 318–323.Google Scholar
32.Slawiñski, E., Mut, V. and Postigo, J., “Teleoperation of mobile robots with time-varying delay,” Robotica 55, 205–215 (2006).Google Scholar
33.Slawiñski, E., Postigo, J. and Mut, V., “Bilateral teleoperation through the internet,” Rob. autonom. Syst. 55, 205–215 (2007).CrossRefGoogle Scholar
34.Stramigioli, S., Secchi, C., van der Schaft, A. J. and Fantuzzi, C., “Sampled data systems passivity and discrete port-Hamiltonian systems,” IEEE Trans. Rob. 21 (4), 574–587 (2005).CrossRefGoogle Scholar
35.Ueda, J. and Yoshikawa, T., “Force-reflecting bilateral teleoperation with time delay by signal filtering,” IEEE Trans. Rob. Automat. 20 (3), 613–619 (2004).CrossRefGoogle Scholar
36.Yokokohji, Y., Tsujioka, T. and Yoshikawa, T., “Bilateral Control with Time-Varying Delay including Communication Blackout,” Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Orlando, USA (2002) pp. 285–292.Google Scholar
37.Zhang, C., Lee, Y. and Chong, K. T., “Passive Teleoperation Control with Varying Time Delay,” Proceedings of the 9th IEEE International Workshop on Advanced Motion Control, Istanbul, Turkey (2006) pp. 23–28.Google Scholar