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Online turnover‐free control for a mobile agent with a terrain prediction sensor
Author(s) -
Park Jae Byung,
Lee Jeong Hee,
Lee Beom Hee
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20107
Subject(s) - teleoperation , terrain , joystick , computer science , motion (physics) , mobile robot , simulation , operator (biology) , reflection (computer programming) , computer vision , artificial intelligence , control (management) , robot , geography , biochemistry , chemistry , cartography , repressor , transcription factor , gene , programming language
This paper proposes a turnover‐free control method for a teleoperated mobile agent (or vehicle) moving through uneven terrain. The teleoperated agent is primarily driven by an operator at a remote site and is able to react autonomously when a possible turnover is predicted. In order to predict the turnover, a low‐cost terrain prediction sensor has been developed using a camera vision with a structured laser light. Since it is difficult for an operator to predict the reactive motion of the agent, a force reflection technique with a force feedback joystick is employed to intuitively recognize the inconsistency between the intended motion and the reactive motion of the agent. Finally, to verify the feasibility and effectiveness of the proposed method, experiments with the ROBHAZ‐DT (actual mobile agent) have been carried out. In the experiments, the operator could recognize the reactive motion of the agent for turnover prevention through force reflection while the agent was moving on slopped terrain. © 2006 Wiley Periodicals, Inc.