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

2019-01-01
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.

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Citation Formats
Y. Mohamadi, E. İ. Konukseven, and A. B. Koku, “Behavior-Based Approach for Cooperative Control of a Haptic-driven Mobile Robot,” 2019, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/39974.