Internet based teleoperation for cooperative navigation and manipulation

Ivan Petrović, Fetah Kolonić, P. Korondi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.

Original languageEnglish
JournalStrojniski Vestnik/Journal of Mechanical Engineering
Volume55
Issue number6
Publication statusPublished - 2009

Fingerprint

Remote control
Navigation
Internet
Mobile robots
Robots
Distance education
Graphical user interfaces
Manipulators
Time delay
Cameras
Feedback

Keywords

  • Cooperative navigation
  • Internet
  • Manipulation
  • Teleoperation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials

Cite this

Internet based teleoperation for cooperative navigation and manipulation. / Petrović, Ivan; Kolonić, Fetah; Korondi, P.

In: Strojniski Vestnik/Journal of Mechanical Engineering, Vol. 55, No. 6, 2009.

Research output: Contribution to journalArticle

@article{7f6dc49224be49ff9ef56aba7e59b394,
title = "Internet based teleoperation for cooperative navigation and manipulation",
abstract = "The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.",
keywords = "Cooperative navigation, Internet, Manipulation, Teleoperation",
author = "Ivan Petrović and Fetah Kolonić and P. Korondi",
year = "2009",
language = "English",
volume = "55",
journal = "Strojniski Vestnik/Journal of Mechanical Engineering",
issn = "0039-2480",
publisher = "Assoc. of Mechanical Eng. and Technicians of Slovenia",
number = "6",

}

TY - JOUR

T1 - Internet based teleoperation for cooperative navigation and manipulation

AU - Petrović, Ivan

AU - Kolonić, Fetah

AU - Korondi, P.

PY - 2009

Y1 - 2009

N2 - The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.

AB - The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.

KW - Cooperative navigation

KW - Internet

KW - Manipulation

KW - Teleoperation

UR - http://www.scopus.com/inward/record.url?scp=68349148660&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=68349148660&partnerID=8YFLogxK

M3 - Article

VL - 55

JO - Strojniski Vestnik/Journal of Mechanical Engineering

JF - Strojniski Vestnik/Journal of Mechanical Engineering

SN - 0039-2480

IS - 6

ER -