Implementation of interactive control model for robots mobile teleoperation

摘要

Nowadays, remote control of robots (telerobots) is mainly based on two models; the first one is used for controlling robot that work in well-defined environments; The second model concerns the monitoring and surveillance robots acting in an unknown and dynamic workspace. The disadvantages of these models are the lack of real human dynamic control of the robot tasks and the functionally limited available interfaces. In this paper, we propose an implementation of a interactive control model; this model allows the robot not only to perform the operator commands, but also to run local functions, such as dealing with unexpected events. We develop a specific interactive control with two control interfaces respectively for P2P and HTTP protocols. The experimental tests that we performed to evaluate the reliability and effectiveness of the interactive control model are promising.