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Internet based teleoperation for cooperative navigation and manipulation
Petrović, Ivan (Author), Kolonić, Fetah (Author), Korondi, Péter (Author)

URLURL - Presentation file, Visit http://www.dlib.si/details/URN:NBN:SI:doc-INNXZ8WX This link opens in a new window

Abstract
Internet je zelo hitro razvijajoča se tehnologija, ki omogoča elektronsko povezovanje mest, oddaljenih na tisoče kilometrov. Združevanje mrežnih tehnologij z možnostmi mobilnih robotov in manipulatorjev omogoča uporabnikom Interneta, da raziskujejo in fizično komunicirajo z oddaljenimi mesti, pri čemer se ustvarjajo priložnosti za skupno rabo virov, oddaljeno izvajanje poskusov in učenje na daljavo. V članku je predstavljen splošen koncept internetnega teleoperiranja, ki postavlja trinivojsko zgradbo sistema za teleoperiranje. Koncept je bil uporabljen pri razvoju sistema za teleoperiranje, ki dvema človeškima operaterjema omogoča varno upravljanje dveh sodelujočih mobilnih robotov v neznanem in dinamičnem okolju s katerihkoli dveh osebnih računalnikov, ki sta povezana v Internet, na katerih je nameščen posebej razviti program - odjemalec in na katera sta priključeni enostavni kontrolni ročici s povratno silo. Operaterja dobivata prek grafičnega uporabniškega vmesnika sliko s kamer, nameščenih na robotih, kontrolni ročici pa dajeta povratno silo na osnovi posebej razvitega algoritma za izogibanje oviram, ki uporablja pristop dinamičnega okna. Uporabljena je bila metoda teleoperiranja na osnovi dogodkov, ki sinhronizira dejanja vsakega robota z ukazi operaterja za odpravljanje nestabilnosti, ki so posledica neznanega in spreminjajočega se časovnega zamika. Eksperimentalni preizkus potrjuje, da razviti sistem za teleoperiranje operaterjem omogoča uspešno skupno navigacijo in manipulacijo v kompleksnih okoljih.

Language:English
Keywords:internet, teleoperation, cooperative navigation, manipulation
Work type:Not categorized (r6)
Tipology:1.01 - Original Scientific Article
Organization:FS - Faculty of Mechanical Engineering
Year:2009
Publisher:= Association of Mechanical Engineers and Technicians of Slovenia et al.
Number of pages:str. 356-368
Numbering:Vol. 55, no. 6
UDC:007.52
ISSN on article:0039-2480
COBISS.SI-ID:11065883 Link is opened in a new window
Views:484
Downloads:205
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Record is a part of a journal

Title:Strojniški vestnik
Shortened title:Stroj. vestn.
Publisher:Zveza strojnih inženirjev in tehnikov Slovenije [et al.], = Association of Mechanical Engineers and Technicians of Slovenia [et al.]
ISSN:0039-2480
COBISS.SI-ID:762116 This link opens in a new window

Secondary language

Language:Slovenian
Abstract:
The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joy sticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.

Keywords:internet, teleoperacije, kooperativna navigacija, robotika

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