Teleoperation of Mobile Robots Based on MPC with Time-Varying Delay

Abstract

This paper proposes a teleoperation system for environments with time-varying delay. The operator compensates for the delay in teleoperation by a predictive model of the plant. The system controls the plant on the remote side while compensating for the time-varying delay based on the state of the predictive model. In this paper, we propose a system in which the predictive model reflect the state of the plant without destabilizing the system even when the remote plant is temporarily stuck by obstacles. The proposed method is evaluated by simulation and experiments using a mobile robot.