An energy-bounding approach to rate-mode bilateral teleoperation of remote vehicles in constant time-delayed environments
An energy-bounding approach to rate-mode bilateral teleoperation of remote vehicles in constant time-delayed environments
复制标题
恒定时滞环境中远程车辆速率模式双边远程操作的能量限制方法
DOI：
10.1109/iros.2010.5651575
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
J. Ryu
中科院分区：
文献类型：
--
作者：
Sungjun Park;Changhoon Seo;Jong;J. Ryu
本文提出了一种远程车辆速率模式双边控制的能量限制方法，以保证恒定时滞电信环境中的系统稳定性。期望和实际远程车辆速度之间的速度误差以力的形式反映，以便操作员在无障碍环境中正常驾驶期间以及与高阻抗墙壁碰撞时保持期望的速度。针对这些远程操作场景设计了速率模式能量限制算法，以便敏感地感受速度差异，同时保持交互稳定性。所提出方法的有效性通过在模拟恒定时滞环境中的车辆不仅在自由空间而且在接触运动中的一些实验结果得到证明。
This paper presents an energy-bounding approach to a rate-mode bilateral control of remote vehicles in order to guarantee the system stability in constant time-delayed telecommunication environments. The velocity error between desired and actual remote vehicle velocities is reflected in term of force in order to maintain desired velocities by the operator both during the normal driving in obstacle-free environments and when colliding with a high impedance wall. A rate-mode energy-bounding algorithm is devised for these teleoperation scenarios in order to sensitively feel the velocity difference while keeping interaction stability. Effectiveness of the proposed approach is shown by some experimental results in the simulated constant time-delayed environments for vehicles not only in free space but also in contact motions.