Time-Delay Compensation in Environment Construction Using Laser Range Finder

Abstract

Teleoperation is operating at a distance and thus extending human capabilities to performing tasks remotely by providing the operator with similar conditions as those at the remote location. Generally, operator should be supported in real-time with an accurate data about the teleoperation environment. This paper proposes a time-delay compensation method for real-time environment construction for vehicle teleoperation as a part of the work for modifying the well-developed Autonomous Ground Vehicle of Beijing Institute of Technology (BIT AGV) to be teleoperated using the Laser scanner data. The proposed Time-Delay Compensation Algorithm includes aprediction process of the vehicle position in the future time and an environment construction w. r. t. the predicted position when the vehicle is still in the current time. Results of the real and simulation experiments for the algorithm illustrate the simplicity in calculations, performance and effectiveness of the algorithm to compensate time-delay in environment construction for Vehicle Teleoperation.