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

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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

Collections

Department of Mechanical Engineering, Conference / Seminar