Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey

Description

We present a review of existing teleoperation methods and enhancement techniques for control of mobile robots. After defining teleoperation, we provide a detailed review that analyses, categorises, and summarises existing mobile robot teleoperation methods. Next, we highlight existing enhancement techniques that have been applied to these teleoperation methods, along with their relative advantages and disadvantages. Finally, several promising future research directions are identified. Teleoperation methods and enhancement techniques for mobile robots: A comprehensive survey Introduction Robotic teleoperation What is robotic teleoperation? Teleoperation problem overview Teleoperated mobile robots Ground vehicles Aerial robotic vehicles Underwater robotic vehicles Teleoperation methods Direct teleoperation Direct teleoperation of UGVs Direct teleoperation of UAVs Direct teleoperation of ROVs Supervisory teleoperation Collision avoidance and automatic tracking Autopilot Leader–follower control Swarm control technique Multi-layer control Supervisory parallel control Multimodal teleoperation control Summary Enhancement techniques Operator perception enhancement Shifting viewpoint Automation of viewpoint adjustment Map merging Vibro-tactile feedback Interface improvement Stereoscopic vision Visual representations of force and sound Virtual environment Virtual reality Augmented reality Mixed reality Control system improvement System control improvement Implementing automatic tracking Increasing local autonomy Latency compensation 2D predictive interface 3D predictive feedback Multimodal teleoperation system Summary Evaluation criteria of teleoperation performance Human operator survey Image analysis Trajectory comparison Statistical analysis Research challenges Challenges related to the user interface Challenges related to the communication link Limited bandwidth: Latency Challenges related to control techniques Future research directions User interface design Latency compensation Pixel synthesis Pixel transformation Motion and content separation Conditioning extra variables Probabilistic models Extracting high level features Overcoming bandwidth constraints Conclusion CRediT authorship contribution statement Declaration of competing interest Acknowledgement References