A Shared-Control Teleoperation System Based on Potential-Field-Constraint Prediction
Pengpeng Li, Weihua Li, Zhenwei Lian, Hongjun Xing, Bindi You, Jianfeng Wang, Liang Ding
Abstract
This paper presents a bilateral shared-control teleoperation system by establishing a human machine environment cooperative control framework to address performance degradation caused by communication delays and cluttered environments. Specifically, we develop a leader-side robot kinematic model with environment-induced artificial potential-field constraints to dynamically fuse leader intent and follower-side environmental information, enabling delay compensation of leader commands. Based on the compensated commands, a bilateral teleoperation controller with local prediction-error compensation term is designed, and an auxiliary potential-field-based shared-control term is incorporated via weighting coefficients to enhance the safety and stability of the wheeled mobile robot (WMR) in complex scenarios. Experimental validation in both simple and challenging environments demonstrates that the proposed method significantly reduces the task failure rate and collision risk, while improving control efficiency and user experience. And operators' subjective assessments also show significant improvements in lower perceived workload and satisfaction.
BibTeX
@inproceedings{ral2026_asharedcontrolte,
title = {A Shared-Control Teleoperation System Based on Potential-Field-Constraint Prediction},
author = {Pengpeng Li and Weihua Li and Zhenwei Lian and Hongjun Xing and Bindi You and Jianfeng Wang and Liang Ding},
booktitle = {RA-L 2026},
year = {2026}
}