Stable mobile robots teleoperation via Potential Field method

摘要

This paper presents a remotely teleoperated vehicle such as mobile robot using haptic device. The teleoperation system is based on the Potential Field method especially for detecting the presence of obstacles. A feedback linerization scheme is employed to render the mobile robot to be a passive system. As the interaction with the obstacle based on the potential field method is passive by nature, with additional assumption that the user is skilled, the connection between the haptic device and the mobile robot is guaranteed to be stable. In this preliminary work, in order to simplify the controller development, no communication channel delay is assumed.