This paper proposes a remote control method with the force assist to improve the operability of a mobile robot. The force feedback is generated on the basis of the time to collision (TTC) and translational velocity. The TTC is calculated from the predicted trajectory and environmental information, and is used as an indicator of the possibility of collision. If the possibility of collision is low, the force assist is not implemented. Therefore, the operator can control the mobile robot with a low manipulation force. On the contrary, if the collision possibility is high, the force assist is implemented. This force assist is classified on the bases of two cases according to the translational velocity. In the case of the low translational velocity, collision avoidance can be achieved via modification of the angular velocity alone. As a result, the proposed method generates a force assist for the angular velocity alone. On the contrary, if the translational velocity is high, it is necessary to modify both the translational and angular velocities to avoid collision. In this case, a force assist is generated for both velocities. Finally, the operability improvement resulting from the proposed method is confirmed experimentally.

中文翻译：

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基于碰撞时间的力辅助远程控制方法

提出了一种带有力辅助的远程控制方法，以提高移动机器人的可操作性。力反馈是基于碰撞时间（TTC）和平移速度生成的。根据预测的轨迹和环境信息计算出TTC，并将其用作碰撞可能性的指标。如果碰撞的可能性低，则不实施助力。因此，操作者可以以低操纵力来控制移动机器人。相反，如果碰撞可能性高，则实现助力。该助力器根据平移速度基于两种情况进行分类。在低平移速度的情况下，仅通过改变角速度就可以避免碰撞。结果是，所提出的方法仅对角速度产生力辅助。相反，如果平移速度很高，则必须同时修改平移速度和角速度，以避免碰撞。在这种情况下，会为两个速度生成一个力辅助。最后，通过实验证实了所提方法的可操作性改进。