||N. Diolaiti, C. Melchiorri
||Obstacle Avoidance for Teleoperated Mobile Robots by means of Haptic Feedback
||ASER 2003 IEEE 1st International Workshop on Advances in Service Robotics
||Haptic feedback, mobile robot, passive teleoperation
| The development of remotely operated devices is historically motivated
by the need to carry out complex operations in potentially hazardous remote
environments. The class of telemanipulation systems includes also mobile robots
that can be remotely operated to perform particular tasks. As an example,
the inspection of underwater structures and
the removal of mines are performed by mobile platforms controlled by
a remote operator, which generally takes advantage only of the
visual feedback provided by vision systems.
In this sense, the nature and completeness of the data provided to
the operator about the state of the remote system are of crucial
importance for proper task execution, and it is generally accepted
that a more efficient achievement of the task can be obtained by
increasing the number of data feedback and by using proper MMI.
In this paper, the use of a haptic interface is proposed in order to
increase the user's perception of the workspace of the mobile robot.
In particular, a virtual interaction force is computed on the basis
of obstacles surrounding the mobile vehicle in order to prevent
dangerous contacts, so that navigation tasks can be carried out with
generally better performances.
|| 7c45.Document.pdf (374855 bytes)