Control using Prediction for Teleoperation of Mobile Robots

摘要

This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Unlike other strategies, this work includes the human operator's decision in the proposed controller in order to improve the performance of the teleoperation system. The human operator's decision is estimated using both a prediction algorithm placed on the local site and a Kalman filter placed on the remote site. In addition, the position generated by the predictor is overlapped with the image back-fed to the human operator (3D augmented reality), improving the information perceived by him. Finally, to illustrate the performance of the proposed control structure, several teleoperation experiments in presence of various delays are shown.