Behavior-based control for time-delayed teleoperation

摘要

Behavior-Based Control for Time-Delayed Teleoperation Matthew R. Stein Richard P. Paul Remote control of robotic manipulation has applications in undersea, shallow space and low bandwidth communication environments. Communication delays on the order of several seconds can occur during space operations that use relay stations, undersea operations using acoustic communication channels, or when significant computational delay exists. This system is also applicable to time varying time delays as experienced when the Internet is used as the medium of communication. The use of supervisory control to address the time delay problem requires a remote manipulator to exhibit some degree of autonomy. This autonomy is necessary to minimize the contribution of communication delay time to task completion time and to relieve the operator of the responsibility for contact control. This dissertation examines the use of behavior-based or subsumption architecture control to provide the required autonomy ...