Internet-Based Teleoperation of an Intelligent Robot With Optimal Two-Layer Fuzzy Controller
Kwee-Bo Sim
Kwang-Sub Byun
Harashima, F.
Sch. of Electr. & Electron. Eng., Chung-Ang Univ., Seoul;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: June 2006
Volume: 53,
Issue: 4
On page(s): 1362-1372
ISSN: 0278-0046
INSPEC Accession Number: 9064511
Digital Object Identifier: 10.1109/TIE.2006.878295
Current Version Published: 2006-08-07
Abstract
Research on Internet-based teleoperation has received increased attention in the past few years. In this paper, an Internet-based teleoperation system was implemented. In order to robustly transmit the surroundings and control information of the robot, packet-type data were used. The central problem in Internet-based teleoperation is data transmission latency or data loss. For this specific problem, an autonomous mobile robot with optimal two-layer fuzzy controller (2LFC) was introduced. When data transmission is failed, the robot automatically moves and protects itself. In addition, a color detection system was implemented so that the robot can perceive an object and move to another object. The fuzzy controller was optimized by using the schema coevolutionary algorithm (SCEA), which finds an optimal solution. Using these technologies, the efficacies of the 2LFC, the SCEA, and the teleoperation system were verified
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