Bilateral Teleoperation with Force Feedback and Obstacle Detection-Based Navigation for Mobile Robots in Congested Environments

This paper presents the implementation of a bilateral teleoperation system for mobile robots operating in congested environments, incorporating force feedback and obstacle-aware navigation.The system uses the Novint Falcon device as the master interface and a mobile robot as the slave unit.A control strategy is developed that integrates mechanical impedance models and a force-based obstacle detection and avoidance algorithm.Additionally, the control law incorporates feedback based on the relative velocities of surrounding objects to account for dynamic interactions and contribute to system stability.Experimental tests were conducted to evaluate the performance of the teleoperation system, focusing on remote navigation, obstacle avoidance, and bidirectional interaction through force feedback in congested scenarios.