A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS

Remo Pillat, Arjun Nagendran, Charles E. Hughes

2012

Abstract

Remote operation of robots in distant environments presents a significant challenge for direct control due to inherent issues with latency and available bandwidth. Purely autonomous behaviors in such environments come with the associated risks of failure. It may be advantageous to acquire information about the environment from the robot’s onboard sensors, to re-create a simulation and plan a mission beforehand. The planned mission can then be uploaded to the robot for execution, allowing the physical robot to handle the autonomy required for completing its task. In this paper, the foundations of a control paradigm are presented that uses a simulated virtual environment to decouple the operator from the physical robot, thus circumventing latency problems. To achieve this, it is first required to accurately model the robot’s kinematic parameters for use in the simulation. Kalman filtering techniques that demonstrate this modeling for a differential drive robot are presented in this paper. The estimated parameters are then used as inputs to a modular planning and execution module. Based on simulation results, a safe and non-redundant path can then be uploaded and executed on the real robot.

Paper Citation

in Harvard Style

Pillat R., Nagendran A. and E. Hughes C. (2012). A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS . In Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications - Volume 1: SIMIE, (VISIGRAPP 2012) ISBN 978-989-8565-02-0, pages 553-561. DOI: 10.5220/0003947205530561

in Bibtex Style

@conference{simie12,
author={Remo Pillat and Arjun Nagendran and Charles E. Hughes},
title={A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS},
booktitle={Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications - Volume 1: SIMIE, (VISIGRAPP 2012)},
year={2012},
pages={553-561},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003947205530561},
isbn={978-989-8565-02-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications - Volume 1: SIMIE, (VISIGRAPP 2012)
TI - A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS
SN - 978-989-8565-02-0
AU - Pillat R.
AU - Nagendran A.
AU - E. Hughes C.
PY - 2012
SP - 553
EP - 561
DO - 10.5220/0003947205530561