Teleoperation of mobile robots considering human’s commands

Abstract

Performance in teleoperation of robot strongly depends on user’s accomplishment. But most of these systems do not consider human factors in the control design. This paper proposes a teleoperation scheme applied to mobile robots considering operator’s dynamic command execution. The controller is based on an impedance law to avoid crashes against obstacles. A novel on-line metric is proposed, which offers a quantitative level about performance of the human operator commands in front of risk. This metric is based on evaluating the risk induced by the operator decisions and execution. The obtained signal is applied in the feedback control loop, modifying the proportional gain of the impedance law. Finally, experimental results are shown in order to test the proposal scheme.