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Behavior-Based Approach for Cooperative Control of a Haptic-driven Mobile Robot
Date
2019-01-01
Author
Mohamadi, Yaser
Konukseven, Erhan İlhan
Koku, Ahmet Buğra
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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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.
Subject Keywords
Mobile Robot
,
Haptics
,
Obstacle Avoidance
,
Behaviorbased Control
,
Human-Robot Interaction
URI
https://hdl.handle.net/11511/39974
DOI
https://doi.org/10.1109/icmect.2019.8932156
Collections
Department of Mechanical Engineering, Conference / Seminar