TELEAUTONOMOUS GUIDANCE FOR MOBILE ROBOTS

A new technique for the remote guidance of fast mobile robots has been developed and implemented. With this method, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This novel implementation of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. Our method, called teleautonomous operation, allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. Teleautonomous operation is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles. © 1990 IEEE