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

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.


Obstacle avoidance control for a human-operated mobile robot
Mohamadi Nazarabad, Yaser; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019)
In this study, the collaboration between human operator and a wheeled mobile robot in obstacle avoidance scenario is addressed. The tele-operation task is completed by integrating a force-feedback joystick to the human-robot system. The force-feedback joystick is able to apply forces on human operator and establish a bi-directional communication interface between the operator and the robot. Depending on levels of autonomy assigned to the robot, the operator and the robot are assigned with different roles du...
Improving the accuracy of a mobile robot for localization and mapping of an unknown environment
Gümrükcü, Gülşah; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2003)
This thesis deals with sensor based motion planning of a mobile robot for localization in an unknown environment. Using the developed algorithm the robot may construct the map (GVG) of any bounded environment, and the minimum distance between any two locations in the mapped environment can be determined. In addition, the accuracy of the robot, facing dead-reckoning error can be improved. With this study, the mobile robot finds the optimum path between any two locations in any bounded environment and traces ...
Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13)
This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Ko...
Human aware navigation of a mobile robot in crowded dynamic environments
Hacınecipoğlu, Akif; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019)
As mobile robots start operating in dynamic environments crowded with humans, human-aware and human-like navigation is required to make these robots navigate safely, efficiently and in socially compliant manner. People can navigate in an interactive and cooperative fashion so that, they are able to find their path to a destination even if there is no clear path leading to it. This is clearly a dexterity of humans. But the mobile robots which have to navigate in such environments lack this feature. Even perf...
Control of a differentially driven mobile robot using radial basis function based neural networks
Bayar, Gökhan; Konukseven, Erhan İlhan; Buǧra Koku, A. (2008-12-01)
This paper proposes the use of radial basis function neural networks approach to the solution of a mobile robot orientation adjustment using reinforcement learning. In order to control the orientation of the mobile robot, a neural network control system has been constructed and implemented. Neural controller has been charged to enhance the control system by adding some degrees of award. Making use of the potential of neural networks to learn the relationships, the desired reference orientation and the error...
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: