Rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic

In this paper a study on rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic is presented. To ensure safety of mobile robot teleoperation it is often necessary to provide environmental force feedback which is related to the distance between the obstacles and the mobile robot. In previous approaches force feedback was rendered based on the measured distance between the obstacles and the mobile robot. In this work, a novel method for force feedback rendering using fuzzy logic is presented. In proposed approach derivative of the distance to the obstacle is used for defining the amount of environmental force feedback which is displayed to human-operator. Fuzzy rules and controller are designed and simulation results are shown. Advantages of the proposed approach are discussed.