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Agent-based telerobotics using multi-sensor fusion

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3 Author(s)
Gang Peng ; Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China ; Xinhan Huang ; Youlun Xiong

When designing reliable telerobot systems via network, one important problem is how to overcome the influence of variable network time delay on exceptions handling such as obstacle avoidance, and real-time tasks such as object location. An agent-based telerobotics using multi-sensor fusion is presented, to improve the intelligence and real-time of telerobotics via network. The structure and functions of agent-based telerobotics are discussed in detail. Also, the behavior of the agent-based telerobot system using multi-sensor fusion is described. Then, an instance system using some sensors, such as 6-dimensional force/torque sensors mounted on robot wrist, CCD camera and ultrasonic sensors, implemented exception handling based on reactive behavior control to avoid obstacle, and the location of object in the telerobotics using multi-sensor fusion. As a result, the real-time, reliability and security are improved in the agent-based telerobotics using multi-sensor fusion.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004