Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance

作者：Erick J. Rodríguez-Seda, James J. Troy, Charles A. Erignac, Paul Murray, Dušan M. Stipanović, Mark W. Spong · 发表于：IEEE Transactions on Control Systems Technology · 年份：2009 · DOI：10.1109/tcst.2009.2030176 · 被引用次数：161 · 研究领域：Teleoperation and Haptic Systems、Distributed Control Multi-Agent Systems、Adaptive Control of Nonlinear Systems

This paper presents theoretical and experimental results on bilateral teleoperation of multiple mobile slave agents coupled to a single master robot. We first design a passifying proportional-derivative (PD) controller to enforce motion tracking and formation control of master and slave vehicles under constant, bounded communication delays. Then, we incorporate avoidance functions to guarantee collision-free transit through obstructed spaces. The unified control framework is validated by experiments with two coaxial helicopters as slave agents and a haptic device as the master robot.