Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Wireless LAN based Teleoperation of Mobile Robots

무선 LAN 기반 이동로봇의 원격제어

  • 강희준 (울산대학교 전기전자공학부) ;
  • 서영수 (울산대학교 전기전자공학부) ;
  • 노영식 (울산대학교 전기전자공학부)
  • Published : 2006.03.01
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Abstract

In this paper, we construct the infrastructure with wireless LAN for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

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References

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