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Forward to the Future: A Deep Learning-based Approach to Mitigate Control Transmission Delay of Teleoperated Driving in Unstructured Environments
  • Hyeonggeun Yun
Hyeonggeun Yun
Agency for Defense Development

Corresponding Author:yhg8423@gmail.com

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Abstract

Teleoperated driving is a leading approach for operating unmanned ground vehicles (UGVs) in unstructured environments, where driving stability is crucial. However, time delays may compromise this stability. In this letter, we propose a computational delay compensation method based on deep learning models to address the control transmission delay. Initially, we collect teleoperated driving data from simulated unstructured environments and then design a delay compensation method utilizing time-series forecasting models. This method generates future control inputs equivalent to the delayed time steps. Our evaluation demonstrates the possibility of our delay compensation method for teleoperated driving in unstructured environments.
23 Mar 2024Submitted to Electronics Letters
27 Mar 2024Submission Checks Completed
27 Mar 2024Assigned to Editor
27 Mar 2024Review(s) Completed, Editorial Evaluation Pending
14 Apr 2024Reviewer(s) Assigned