Abstract
The thesis begins by exploring the need for a teleoperation system that ensures safety, given the increasing utilization of autonomous robotic systems in various industries. The research focuses on the Panthera V3 robot, a self-reconfigurable pavement sweeping cleaning robot, which operates in dynamic environments where human-robot interaction is essential. The development process involved designing and implementing a comprehensive teleoperation system that incorporates safety measures. The system’s architecture integrates advanced technologies such as fuzzy logic decision-making and real-time sensor feedback. These components enable the robot to detect and respond to obstacles, variations in the terrain, and the presence of pedestrians. Through extensive experimentation and validation, the effectiveness of the safety teleoperation system was assessed. The findings demonstrate that the implemented system effectively maintains safety both from the robot’s perspective and the operator’s perspective. It ensures that the robot operates in a manner that prevents damage to its surroundings or itself. Additionally, the system provides mechanisms to prevent misuse by the operator, ensuring their attention and engagement during the teleoperation process. The thesis concludes that the developed safety teleoperation system significantly enhances the reliability and longevity of the Panthera V3 robot. It contributes to the growing field of robotic safety by addressing the challenges of human-robot interaction in dynamic environments. The system’s success opens avenues for further advancements in the autonomy and reconfigurability of the Panthera V3 robot, as well as other robotic systems.