Research on a Novel Online Obstacle Avoidance Algorithm in an Asymmetric Teleoperation

IF 1 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEJ Transactions on Electrical and Electronic Engineering Pub Date : 2025-01-23 DOI:10.1002/tee.24259

Hua Chen, Baoyu Shi

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引用次数: 0

Abstract

Teleoperation robots are being used more and more widely. The safety issues of robots during operation are increasingly attracting people's attention; In actual dangerous environments, during the operation of the teleoperation control system, the real-time presence of obstacles com-presses the robot's safe workspace, leading to the failure of planned paths. This study is mainly about a robot online obstacle avoidance algorithm based on offline trajectory, aiming at the problems that ensure that the slave–robot is not affected during operation. Besides, this algorithm achieves the goal of avoiding obstacles by selecting obstacle avoidance parameters and allowing the robot to switch between primary and secondary movements in real-time. Two robot motion scenarios were selected in the article. One is obstacle avoidance with a single arm of slave–robot and the other is coordinated obstacle avoidance with a dual-arm robot for simulation experiments. The simulation experiment results showed that the algorithm proposed in this article is suitable for the designed asymmetric teleoperation system, the slave–robot can actively avoid obstacles under the control of the main robot. The algorithm perfectly satisfied the industry standards, and meet the design requirements of the teleoperation control system. © 2025 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

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来源期刊

IEEJ Transactions on Electrical and Electronic Engineering 工程技术-工程：电子与电气

CiteScore

2.70

自引率

10.00%

发文量

199

审稿时长

4.3 months

期刊介绍： IEEJ Transactions on Electrical and Electronic Engineering (hereinafter called TEEE ) publishes 6 times per year as an official journal of the Institute of Electrical Engineers of Japan (hereinafter "IEEJ"). This peer-reviewed journal contains original research papers and review articles on the most important and latest technological advances in core areas of Electrical and Electronic Engineering and in related disciplines. The journal also publishes short communications reporting on the results of the latest research activities TEEE ) aims to provide a new forum for IEEJ members in Japan as well as fellow researchers in Electrical and Electronic Engineering from around the world to exchange ideas and research findings.