Control Architecture for Mobile Robot Teleoperation

Remote robots control system (telerobots) is an indispensable module for mobile robot navigation. The system based mainly on two models. The first one is used for controlling robot that work in well-defined environments. The second model concerns the monitoring and surveillance robots acting in an unknown and dynamic workspace. The disadvantages of these two models are the lack of real dynamic control of the robot tasks and limited control interfaces. The present paper proposes an implementation of an interactive control model. The model allows the robot not only to perform the operator commands, but also to run local functions, such as dealing with unexpected events. The experimental tests performed to evaluate the reliability and effectiveness of the interactive control model are promising.

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