IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Priority-based Teleoperation System for Differential-drive Mobile Robots

차동 구동형 모바일 로봇의 효율적인 운용을 위한 우선순위 기반의 원격제어 시스템

  • Received : 2020.02.18
  • Accepted : 2020.03.27
  • Published : 2020.04.30
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Abstract

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

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References

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