Teleoperation of AutoMerlin by Inculcating FIN Algorithm

Abstract

This work is presenting FIN algorithm, which is developed to assist the human operator in the teleoperation of AutoMerlin mobile robot. It enables the efficient teleoperation of the robot in the presence of random time delay and helps the operator in safe navigation through illstructured environment having scattered obstacles. It is an auxiliary intelligence which has been added to already existing speed controller to avoid obstacles autonomously. FIN algorithm takes the control of robot when certain obstacle at a specified distance is detected by ultrasonic sensors and the robot gets the command from the human operator to move in forward direction or connection is lost between human operator and the mobile robot. Then, this algorithm detects the position of obstacle relative to robot and diverts the robot in the appropriate direction to avoid collision. The robot listens to the operator only for backward movement, when the obstacle is within specified range and ignores the forward motion command and avoid obstacle autonomously and shifts back the control to human operator. Servo control has been provided to steer the robot for 2D navigation. The presented results show the performance and effectiveness of algorithm during the teleoperation of AutoMerlin.

Automerlin mobile robot's bilateral telecontrol with random delay

“…Bilateral telecontrol of a mobile robot can be defined as control of the robot from a remote location while receiving force feedback from it as shown in Figure 1. The complete configuration of telecontrol comprises of a human operator, a haptic device connected to a computer having client algorithm, communication medium, slave robot equipped with server algorithm and remote environment [1][2][3][4]. The human operator applies the required maneuvers to the master haptic device which translates it into inputs for the slave robot in the remote environment.…”

Orientation Control Design of a Telepresence Robot: An Experimental Verification in Healthcare System

“…Besides completing complex tasks, robots are mostly used in entertainment, the fashion industry, teleconferencing and healthcare systems [4][5][6]. However, healthcare applications require sophisticated robots to perform exact and precise surgery, which requires complex robot design and controlled functions [7]. For such an environment, robots should be well-trained using the master-slave application.…”