Safeness visualization of terrain for teleoperation of mobile robot using 3D environment map and dynamic simulator

Yasuyuki Awashima, Hiromitsu Fujii, Yusuke Tamura, Keiji Nagatani, Atsushi Yamashita, Hajime Asama

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

3 Citations (Scopus)

Abstract

In teleoperation of mobile robots on rough terrain, there is a risk that robots might tumble because of the inclination or unevenness of the ground. In this paper, we propose a method to evaluate in advance the stability of robots on assumed routes, and to provide visual information of the stability to the operator. Specifically, by using a 3D environmental map and dynamic simulator, the stability of robots on a terrain with respect to whether the robots are going to tumble or not is calculated. Following this, the information of the stability is visualized as a bird's-eye view image, which is one of the most useful images for the teleoperation of robots. By comparing the results of the actual experiments with those of the dynamic simulator, the validity of the proposed method for the evaluation of stability is demonstrated. The proposed method can help operators to choose suitable routes, and improves the safety in teleoperation of robots.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages194-200
Number of pages7
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

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