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Fuzzy Force-Feedback Augmentation for Manual Control of Multirobot System.
- Source :
- IEEE Transactions on Industrial Electronics; Aug2011, Vol. 58 Issue 8, p3213-3220, 8p
- Publication Year :
- 2011
-
Abstract
- Multirobot systems represent an enticing area of research with numerous real-world applications. Teams of multiple robots can achieve tasks that are more difficult or even impossible for a single robot, e.g., environment exploration, search and rescue, or surveillance operations. In a previous work, the authors developed a system for the single-operator manual control of a multirobot system. However, such teleoperation systems commonly suffer from inadequate perception of the remote environment. This paper extends the previously presented work by adding a fuzzy force-feedback (FFF) augmentation for the manual control of a multirobot system. The FFF augmentation delivers additional information to the operator. Moreover, it guides the operator toward the smooth control of the robotic group. The force feedback was generated by a system of fuzzy controllers monitoring the state of the multirobot group. The performance of the system was evaluated in a virtual environment, and the recorded forces were explored in various scenarios. The force-feedback augmentation demonstrated the following improvements: 1) operator's increased obstacle awareness and 2) improved maneuvering performance. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 58
- Issue :
- 8
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 62967766
- Full Text :
- https://doi.org/10.1109/TIE.2010.2068532