Sensor-based autonomous control for telerobotic system

Abstract

Teleoperation is a alternative to enhance the ability of robotic system. In teleoperated robotic system, the human operator's intelligence is projected into remote robotic system. However, due to the propagation time delay of forward and backward information in teleoperated robotic system, the human operator is not easy to control the remote robotic system stably. So it is crucial of enhancing the robot autonomous control ability to adapt to the change of environments. This paper presents a new intelligent autonomous control method for the teleoperated robotic system. In this control method, the controller is organized into three layers which imitates the information processing of human being. Multisensors are adopted in the teleoperated robotic system to obtain the environment states, and the sensory information are fused into a different level of autonomous controller to meet the need of the change of environment. Experimental results demonstrate the effectiveness of the proposed sensor based autonomous control method.