Abstract
The real-time control proposed in this paper combines the event-based control theory with numeric potential field and computer vision techniques to teleoperate, via the Internet, a nonholonomic robot. The user receives visual and haptic sensory information in real time, allowing obstacle avoidance while navigating a remote environment. A numeric grid generated from a top view of the workspace is used to produce virtual forces around the obstacles. A computer-based vision system recognizes landmarks at the top of the robot to obtain its current position. The robot position is combined with the grid to generate real-time haptic interaction. A graphic landmark on the workspace image represents the predicted and current robot position. The system was tested experimentally to validate the approach using an Internet2 connection.
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Von Borstel, F.D., Gordillo, J.L. (2004). Internet-Based Teleoperation Control with Real-Time Haptic and Visual Feedback. In: Lemaître, C., Reyes, C.A., González, J.A. (eds) Advances in Artificial Intelligence – IBERAMIA 2004. IBERAMIA 2004. Lecture Notes in Computer Science(), vol 3315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30498-2_49
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DOI: https://doi.org/10.1007/978-3-540-30498-2_49
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