Interactive control and environment modelling for a mobile robot based on multisensor perceptions
This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.
mobile robot multisensor telerobotics man-machine systems