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Remote-Controlled Method with Force and Visual Assists Based on Time to Collision for Mobile Robot

Authors :
Ryo Masaki
Masato Kobayashi
Naoki Motoi
Source :
Applied Sciences, Vol 12, Iss 8, p 3727 (2022)
Publication Year :
2022
Publisher :
MDPI AG, 2022.

Abstract

Various remote-controlled methods have been developed to improve operability using force or visual assists; however, using only force or visual assists may deteriorate the operability or safety performance. Therefore, a remote-controlled method with both force and visual assists is proposed to improve the operability while maintaining safety performance. The proposed remote-controlled system consists of a wheeled mobile robot, control device, and monitor. The force assist is generated using the time to collision (TTC), which is the predicted time of collision of the mobile robot against an obstacle. This force assist is applied to the operator using a control device to achieve collision avoidance. Using a visual assist, a predicted trajectory for the mobile robot based on the TTC is generated. For operability improvement, this predicted trajectory with color gradation is shown on the monitor. In summary, the achievement of operability improvement while maintaining safety performance is confirmed from experimental results using the proposed method.

Details

Language :
English
ISSN :
20763417
Volume :
12
Issue :
8
Database :
Directory of Open Access Journals
Journal :
Applied Sciences
Publication Type :
Academic Journal
Accession number :
edsdoj.863e30d1f4c4405882eb9c818370e43b
Document Type :
article
Full Text :
https://doi.org/10.3390/app12083727