By Topic

A Bilateral Teleoperation System for Planetary Rovers

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Chang-qing Yu ; Dept. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China ; He-Hua Ju ; Yang Gao ; Ping-Yuan Cui

In this paper, a bilateral teleoperation system (BTS) is proposed for planetary rover remote control and operation. This is a continuation of the work presented in on computer-simulated virtual environment, that can be used as a predictive display module in the BTS. In the proposed system, a haptic device is used by the human operators to control planetary rovers as driving a car. Dynamic model of the rover is used and a passive-based bilateral teleoperation scheme is adopted to achieve the stability of the close-loop control. Kinematic model of the rover is used to get the torque distribution algorithm and applied to calculate the corresponding torque for each wheel based on the desired linear speed and heading angle of the rover. Buffer unit is designed to address the issue of variable time-delay caused by the Internet. Lab-based experiments have been carried out using the BH2 rover. The test results demonstrate good performance of the proposed system.

Published in:

Computational Intelligence and Software Engineering, 2009. CiSE 2009. International Conference on

Date of Conference:

11-13 Dec. 2009