NDLI: Teleoperating a formation of car-like rovers under time delays

Content Provider	IEEE Xplore Digital Library
Author	Xu Zhihao Ma Lei Wu Zhongyang Klaus, S. Dan, N.
Copyright Year	2011
Description	Author affiliation: Department of Informatics VII, University of Würzburg, D-97074, Germany (Xu Zhihao; Wu Zhongyang; Klaus, S.) \|\| Department of Mechanical Engineering, University of Ottawa, Canada (Dan, N.) \|\| School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China (Ma Lei)
Abstract	This paper addresses bilateral teleoperation of a formation of car-like planetary rovers under communication delays. The mobile robots form a team using the leader-follower approach, with the leader being teleoperated by human operator via a haptic device. Communication delays present in the teleoperation channel, and as well between the leader and the followers. The haptic joystick provides the human operator with a force-feedback mechanism describing the environmental conditions, based on the relative distances and speeds between the rover and the obstacles. The teleoperation is implemented with an impedance controller based on the sliding-mode method, which accomplishes speed coordination. Formation control is developed based on the input-output linearization method. The follower robots keep constant distances and relative bearing angles with respect to the leader. An improved PD-type formation controller is proposed to compensate the delay effect, which is proved to be stable and effective in tracking. Hardware experiments support the implementation of both the teleoperation and the formation controllers, which also showed capability of dealing with variable time delays in the communication channels.
Starting Page	4095
Ending Page	4101
File Size	241178
Page Count	7
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Time delays Delay effects Robot kinematics Force Bilateral teleoperation Sliding-mode control Mobile robots Impedance Formation Delay
Content Type	Text
Resource Type	Article

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