We present a review of existing teleoperation methods and enhancement
techniques for control of mobile robots. After defining teleoperation, we provide a detailed review
that analyses, categorises, and summarises existing mobile robot teleoperation methods. Next, we
highlight existing enhancement techniques that have been applied to these teleoperation methods,
along with their relative advantages and disadvantages. Finally, several promising future research
directions are identified.
Author(s): MD Moniruzzaman, Alexander Rassau, Douglas Chai, Syed Mohammed Shamsul Islam
Series: Robotics and Autonomous Systems
Year: 2021
Language: English
Tags: Robotics, Computer Science, Teleoperation
Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey
Introduction
Robotic teleoperation
What is robotic teleoperation?
Teleoperation problem overview
Teleoperated mobile robots
Ground vehicles
Aerial robotic vehicles
Underwater robotic vehicles
Teleoperation methods
Direct teleoperation
Direct teleoperation of UGVs
Direct teleoperation of UAVs
Direct teleoperation of ROVs
Supervisory teleoperation
Collision avoidance and automatic tracking
Autopilot
Leader–follower control
Swarm control technique
Multi-layer control
Supervisory parallel control
Multimodal teleoperation control
Summary
Enhancement techniques
Operator perception enhancement
Shifting viewpoint
Automation of viewpoint adjustment
Map merging
Vibro-tactile feedback
Interface improvement
Stereoscopic vision
Visual representations of force and sound
Virtual environment
Virtual reality
Augmented reality
Mixed reality
Control system improvement
System control improvement
Implementing automatic tracking
Increasing local autonomy
Latency compensation
2D predictive interface
3D predictive feedback
Multimodal teleoperation system
Summary
Evaluation criteria of teleoperation performance
Human operator survey
Image analysis
Trajectory comparison
Statistical analysis
Research challenges
Challenges related to the user interface
Challenges related to the communication link
Limited bandwidth:
Latency
Challenges related to control techniques
Future research directions
User interface design
Latency compensation
Pixel synthesis
Pixel transformation
Motion and content separation
Conditioning extra variables
Probabilistic models
Extracting high level features
Overcoming bandwidth constraints
Conclusion
CRediT authorship contribution statement
Declaration of competing interest
Acknowledgement
References
