Abstract
This paper proposes a control scheme for teleoperation of mobile robots in the presence of time delay. The global goal and the remote environment are unknown. The control system generates a collision-free reference from the commands issued by the operator and gives it to a remote stable controller driving the robot. Such reference is computed by using a predictor and a path planner, both placed on the remote site. The operator receives visual feedback from the remote site. In addition, a variable sampling of the operator's commands is proposed that emulates the strategy move and wait. Finally, the stability of the designed teleoperation system is analyzed and the behavior of the system is tested experimentally.
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