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- W2182796162 abstract "Thoughthefinal goalofmobile robotnavigation is tobeautonomous, operators' intelligent andskillful decisions arenecessary whenthere aremanyscattered obstacles. There areseveral limitations eveninthecamera-based tele-operation ofamobile robot, whichisverypopular forthemobile robot navigation. Forexamples, shadowed andcurved areas cannot be viewedusinga narrowview-angle camera,especially inbad weathersuchason snowyorrainydays.Therefore, itis necessary to haveothersensoryinformation forreliable tele-operations. Inthispaper,sixteen ultrasonic sensors are attached aroundamobile robot inaringpattern tomeasurethe distances toobstacles. A collision vectorisintroduced inthis paperasanewtool forobstacle avoidance, whichisdefined asa normalvector fromanobstacle tothemobile robot. Basedon thiscollision vector, avirtual reflection force isgenerated to avoid theobstacles andthenthereflection force istransferred to anoperator whoisholding ajoystick tocontrol themobile robot. Relying onthereflection force, theoperator cancontrol the mobile robotmoresmoothly andsafely. Forthis bi-directional tele-operation, amasterjoystick systemusing ahall sensor was designed toresolve theexistence ofnonlinear sections, whichare usual forageneral joystick withtwomotorsandpotentiometers. Finally, theefficiency ofaforce reflection joystick isverified through thecomparison oftwovision-based tele-operation experiments, withandwithout force reflection." @default.
- W2182796162 created "2016-06-24" @default.
- W2182796162 creator A5003379082 @default.
- W2182796162 date "2007-01-01" @default.
- W2182796162 modified "2023-09-27" @default.
- W2182796162 title "Tele-operation ofaMobile RobotUsingaForceReflection Joystick withaSingle HallSensor" @default.
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- W2182796162 hasPublicationYear "2007" @default.
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