Tele-operation of a Mobile Robot Using a Force Reflection Joystick with a Single Hall Sensor

—Though the final goal of mobile robot navigation is to be autonomous, operators’ intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an o...

• Type: Conference
• Year: 2007
• Where: roman
• Authors: Soonshin Han, JangMyung Lee
• Keywords: Mobile Robot, Mobile Robot Navigation, Reflection Force, Robotics, ROMAN 2007