Teleoperation Transparency Using Model Predictive Control

Teleoperation means operating a vehicle or a system remotely over a distance.Teleoperation extends human capabilities to perform tasks remotely by providing the operator withsimilar conditions as those at the remote location. Generally, operator should be supported inreal-time with an accurate data about the teleoperation environment. This paper proposes atime-delay compensation algorithm for environment construction to modify the well-developed BITAGV to be teleoperated. This Algorithm includes predicting the vehicle position in the future timeusing Model Predictive control (MPC). Then, environment is constructed according to this positionusing the Laser scanner. Real and simulation experiments are presented to illustrate the performanceand effectiveness of the algorithm in compensating time-delay for Teleoperation.