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 with similar conditions as those at the remote location. Generally, operator should be supported in real-time with an accurate data about the teleoperation environment. This paper proposes a time-delay compensation algorithm for environment construction to modify the well-developed BIT AGV to be teleoperated. This Algorithm includes predicting the vehicle position in the future time using Model Predictive control (MPC). Then, environment is constructed according to this position using the Laser scanner. Real and simulation experiments are presented to illustrate the performance and effectiveness of the algorithm in compensating time-delay for Teleoperation.