Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

Intelligent Coordinated Control of Multiple Teleoperated Robots

  • Conference paper
Intelligent Data Engineering and Automated Learning – IDEAL 2006 (IDEAL 2006)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 4224))

  • 1707 Accesses

Abstract

Multiple teleoperated robots are more powerful to accomplish complex tasks than single robot does, and coordinated control of multiple robots play an important role in improving their performances. A knowledge based intelligent control method is proposed to coordinate the autonomous actions of the two teleoperated robots. In this method, each intelligent agent of the teleoperated robots has a model of other robots and a knowledge base of the task in a virtual distributed graphic predictive display system. Based on minimum distance query and collision detection, the autonomous motion of each robot is then planned via knowledge based reasoning to accomplish the given task. Experimental simulation results show that the method is effective for multiple robots to work coordinately.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Hirzinger, G., Brunner, B., Dietrich, J., Heindl, J.: Sensor-Based Space Robotics-ROTEX and Its Telerobotic Features. IEEE Trans. on Robotics and Automation 9(5), 649–663 (1993)

    Article  Google Scholar 

  2. Funds, J., Lindsay, T., Paul, R.: Teleprogramming: Toward Delay-Invariant Remote Manipulation. Presence 1(1), 29–44 (1992)

    Google Scholar 

  3. Sheridan, T.B.: Space Teleoperation through Time Delay: Review and Prognosis. IEEE Transactions on Robotics and Automation 9(5), 592–606 (1993)

    Article  Google Scholar 

  4. Li, L.: Development of a Telepresence Controlled Ambidextrous Robot for Space Application. In: Proceedings of IEEE International Conference on R&A, pp. 58–63 (1996)

    Google Scholar 

  5. Kim, W.S.: Computer Vision Assisted Virtual Reality Calibration. IEEE Transactions on Robotics and Automation 15(3), 450–464 (1999)

    Article  Google Scholar 

  6. Bejczy, A.K., Fiorini, P., et al.: Toward Integrated Operator Interface for Advanced Teleoperation under Time Delay. Intelligent Robots and Systems 28(6), 327–349 (1995)

    Article  Google Scholar 

  7. Yoon, W.K., Goshozono, T., Kawabe, H., et al.: Model-Based Teleoperation of a Space Robot on ETS-VII Using a Haptic Interface. In: IEEE International Conference on Robotics & Automation, pp. 407–412 (2001)

    Google Scholar 

  8. Jau, B.M.: Dexterous Telemanipulation with Four Fingered Hand System. In: IEEE International Conference on Robotics and Automation, pp. 338–343 (1995)

    Google Scholar 

  9. Kheddar, A., Tzafestas, C., Coiffet, P., et al.: Parallel Multi-Robots Long Distance Teleoperation. In: Proc. Int. Conf. on Advanced Robotics, pp. 1007–1012 (1997)

    Google Scholar 

  10. Freund, E., Rosmann, J.: Projective Virtual Reality: Bridging the Gap between Virtual Reality and Robotics. IEEE Transactions on Robotics and Automation 15(3), 411–424 (1999)

    Article  Google Scholar 

  11. Xi, N., Tarn, T.J., Bejczy, A.K.: IntelligentPlanning and Controlfor Multi-Robot Coordination-An Event-Based Approach. IEEE Trans. On Robotics and Automation 1, 219–224 (1999)

    Google Scholar 

  12. Gilbert, E.G., Johnson, D.W., Keerthi, S.S.: A Fast Procedure for Computing the Distance between Complex Objects in Three- Dimensional Space. IEEE J. Robot. Automat. 4, 193–203 (1988)

    Article  Google Scholar 

  13. Chou, W.S., Xiao, J.: A Collision Detection Method for Virtual Manufacturing. Transactions of the North American Manufacturing Research Institute of SME 32, 319–326 (2004)

    Google Scholar 

  14. Chou, W.S., Wang, T.M.: The Arm/Hand Integrated Telerobotic System Based on Sensory Information. In: IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, vol. 2, pp. 809–814 (2003)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, 100083, P.R. China

    Wusheng Chou & Tianmiao Wang

Authors
  1. Wusheng Chou
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tianmiao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Escuela Politécnica Superior, GICAP Research Group, Universidad de Burgo, Calle Francisco de Vitoria S/N, Edifico C, Campus Vena, 09006, Burgos, Spain

    Emilio Corchado

  2. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

  3. Department of Information Systems and Computation, Technical University of Valencia, Camino de Vera, Valencia, Spain

    Vicente Botti

  4. University of West Scotland, PA1 2BE, Paisley, Scotland

    Colin Fyfe

Rights and permissions

Reprints and permissions

Copyright information

© 2006 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Chou, W., Wang, T. (2006). Intelligent Coordinated Control of Multiple Teleoperated Robots. In: Corchado, E., Yin, H., Botti, V., Fyfe, C. (eds) Intelligent Data Engineering and Automated Learning – IDEAL 2006. IDEAL 2006. Lecture Notes in Computer Science, vol 4224. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11875581_137

Download citation

  • DOI: https://doi.org/10.1007/11875581_137

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45485-4

  • Online ISBN: 978-3-540-45487-8

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation