Semi-autonomous haptic teleoperation of multiple omni-directional mobile robots

Abstract

We present experimental results on semi-autonomous control of unmanned ground vehicles (UGVs), which makes it possible for multiple robots to follow teleoperated command and maintain the formation of them with collision avoidance at the same time. The implemented results are presented with theoretical preliminaries, and we use three Tri Roller Observing Tracers (TROTs) in our implementation. It is omni-directional mobile robot which has natural-born agility.