Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots
Mela Coffey,Alyssa Pierson,Mela Coffey,Alyssa Pierson
We propose a collaborative teleoperation algorithm which utilizes haptic force feedback to guide users around oncoming obstacles while accounting for non-holonomic constraints. The proposed algorithm predicts the user's goal, plans a path using a modified RRT* algorithm to the predicted goal, and provides haptic guidance to the path and away from obstacles when the user is in an unsafe pose. We sh...
