Teleoperation Of Robots Improvement System (TORIS)

Control of SUGVs in cluttered environments requires fine control of the platform to avoid obstacles, and align the platforms with doorways or stairways. On larger UGVs, speed is normally paramount for mission success, and communication delays can cause control instabilities that often result in overturned or damaged vehicles. The proposed system, Teleoperation of Robots Improvement System (TORIS), improves the teleoperators ability to control the vehicle in a three step process. First, TORIS predicts robot motion given the operators commands. Second, TORIS creates synthetic images to produce a video feed that looks as if the robot communication link had no delay and no reduced bandwidth. Finally, TORIS performs closed loop control on the robot platform to ensure that the robot follows the operators commands.