Abstract
Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for un-expensive purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central hot issue of the related researches. Major research topics for the tele-operated un-autonomous mobile include development of force reflecting joystick for tele-operation and development of sophisticated algorithm for smooth tele-operation. HILS system for a low-cost un-autonomous tele-operated mobile robot is developed in this research. Main contribution of this paper is the development of new fuzzy command smoothing concept for smooth tele-operation of un-autonomous mobile robot with many obstacles around.
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