Bilateral Teleoperation of a Planetary Rover with Time Delays: A Master thesis from SpaceMaster, a Joint European Master in Space Science and Technology - Softcover

Xu, Zhihao

Softcover

ISBN 10: 3838310527 ISBN 13: 9783838310527

Publisher: LAP Lambert Academic Publishing, 2009

Synopsis

This thesis work addresses the bilateral teleoperation of a planetary rover, named MERLIN (Mobile Experimental Robot for Localization and Intelligent Navigation). The teleoperation platform is built up between the rover and a haptic device. The haptic device provides a force-feedback mechanism, which describes the environmental conditions regarding the obstacles, based on the ranging information from the rover. Therefore, obstacle avoidance can be achieved independent of the visualization of the environment, which, on the other hand, will reduce the communication burden. This can be highly desirable in low-light conditions and in remote teleoperation cases, in which difficulties may arise in visualizing the surroundings. Communication delay is the main concern in this thesis work, because it will result in poor performance of the overall system and even lead to instability of the closed-loop teleoperation. The technology developed in this thesis work will improve the quality of navigating MERLIN rovers. and provide basics for teleoperation of multiple mobile robots, as well as robotic maneuvers by means of mobile manipulators.

About this title

About the Author

He received Bachelor degree in Automation from Shanghai Jiao Tong University, China, in 2006. Afterwards he obtained double M. Sc. Degrees in SpaceMaster in 2009. Currently he is taking Ph.D study in IDK "Identification, Optimization and Control with Applications in Modern Technologies" within the Elite Network of Bavaria.

Edition details

• Publisher: LAP Lambert Academic Publishing
• Publication date: 2009
• Language: English
• ISBN 10: 3838310527
• ISBN 13: 9783838310527
• Binding: Paperback
• Number of pages: 96