Remote Control Method for Mobile Robot Based on Force Feedback Generated using Collision Prediction Map

摘要

This paper proposes a remote control method for a mobile robot based on the force feedback generated using a collision prediction map. The collision prediction map expresses the relation between the mobile robot and its surrounding environment as the collision prediction time at each translational and angular velocity. The force feedback is generated by using this collision prediction map. In the proposed method, the operator can feel the environmental information as the tactile sensation. This improves the operability of the remote control system. The validity of the proposed method was confirmed from the experimental results.