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{"title":"Research on a Novel Online Obstacle Avoidance Algorithm in an Asymmetric Teleoperation","authors":"Hua Chen, Baoyu Shi","doi":"10.1002/tee.24259","DOIUrl":null,"url":null,"abstract":"<p>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.</p>","PeriodicalId":13435,"journal":{"name":"IEEJ Transactions on Electrical and Electronic Engineering","volume":"20 4","pages":"656-664"},"PeriodicalIF":1.0000,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEJ Transactions on Electrical and Electronic Engineering","FirstCategoryId":"5","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/tee.24259","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
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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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