Assisted teleoperated navigation system based on 3D mapping

Andres Mora, David G. Axelson, Marco Chacín, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper the authors present a novel method to deal with the time delay and narrow bandwidth limitations inherent to teleoperated mobile robotic systems. This method combines the visualization of two models of the teleoperated robot inside a 3D virtual environment (located in the human operator's side of the system) that represents the area surrounding it. One model represents the position and orientation inside the 3D virtual environment, provided by a Real Time Kinematics Global Position System sensors located on the remotely teleoperated robot and one utilizing a kinematics simulation which represents the position and orientation based on the inputs given by human operator. In this visualization, the human operator has the capability to examine the area surrounding the teleoperated robot through multiple points of view with a single scan from a laser range finder sensor. By comparing the representation of the kinematics-based model to the sensor time delay-affected one, the human operator is capable to determine the deviation from the desired trajectory of the teleoperated robot and correct it.

Original languageEnglish
Title of host publicationProceedings of the 1st Annual 2007 IEEE Systems Conference
Pages292-297
Number of pages6
DOIs
Publication statusPublished - 2007 Oct 1
Event1st Annual 2007 IEEE Systems Conference - Honolulu, HI, United States
Duration: 2007 Apr 92007 Apr 13

Publication series

NameProceedings of the 1st Annual 2007 IEEE Systems Conference

Other

Other1st Annual 2007 IEEE Systems Conference
CountryUnited States
CityHonolulu, HI
Period07/4/907/4/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems
  • Software
  • Control and Systems Engineering

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  • Cite this

    Mora, A., Axelson, D. G., Chacín, M., Nagatani, K., & Yoshida, K. (2007). Assisted teleoperated navigation system based on 3D mapping. In Proceedings of the 1st Annual 2007 IEEE Systems Conference (pp. 292-297). [4258892] (Proceedings of the 1st Annual 2007 IEEE Systems Conference). https://doi.org/10.1109/SYSTEMS.2007.374687