Teleoperation System for Omnidirectional Mobile Robot Based on Shared Control Scheme

摘要

In this paper, a teleoperation system for omnidirectional mobile robot(TSOMR) is proposed in which the operator can use his hand gesture to tele-control the omnidirectional mobile robot(OMR). For hand gesture recognition, MYO is used to collect operator's sEMG sinal. Thanks to the structure os the omni wheels(OW), the OMR can achieve any direction without constraints and its kinematic model is built in this paper. The OMR equips with a depth camera which obtains OMR's surroundings information and transmit it to the operator. This paper also puts forward a shared control scheme for the OMR's obstacle avoidance which can make the motion smooth and effective. This paper uses a modified potential field method for auxiliary assistive obstacle avoidance. The experiment results verify the effectiveness and advantage of the proposed control scheme.