Behavior-Based Approach for Cooperative Control of a Haptic-driven Mobile Robot

Mohamadi Y., KONUKSEVEN E. İ., KOKU A. B.

23rd International Conference on Mechatronics Technology (ICMT), Salerno, İtalya, 23 - 26 Ekim 2019 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/icmect.2019.8932156
  • Basıldığı Şehir: Salerno
  • Basıldığı Ülke: İtalya
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

This paper addresses the obstacle avoidance performance of a tele-operated wheeled mobile robot. The robot is equipped with both a camera and a laser range sensor to acquire the necessary data from the surrounding. The communication between the operator and the robot is established by means of a force-feedback haptic joystick. In order to tackle go-to-goal and obstacle avoidance tasks, behavior-based control methodology has been used. The results of the study show that the proposed cooperative control approach is superior to both fully manual and fully autonomous behavior-based control in terms of number of collisions, time consumed to accomplish the tasks and also the cognitive pressure on the operator.