A Teleoperation System for Semi-autonomous Reconnaissance Robot
Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have beenaddressed.A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combinethe complementary capabilities of both robot’s local autonomy and human intelligence is proposed firstly.Then,a novel autonomous mission executive mechanism based on macro behavior and a hybrid behaviorcoordination mechanism is brought out.Meanwhile,several intelligent behaviors are defined briefly.The implement method of teleoperation system software based on multi-agent system is introduced in succession.Finally,a visualized human-robot interface with live video/audio,3D drawing simulation,and graphic missionplanner is presented.Experimental results demonstrate the autonomous mission executor is able to interpretand execute the planned mission specification successfully,and the human-robot collaborative teleoperation system for semi-autonomous reconnaissance robot has excellent property of telepresence,flexibility and robustness.
semi-autonomous reconnaissance robot teleoperation system human-robot collaboration multi-agents system human-robot interface
Aiguo Song Hongru Tang Yan Guo Jiatong Bao Xiaosong Cao
School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China School of Energy and Power Engineering,Yangzhou University,Yangzhou 225009,China
国际会议
南京
英文
56-63
2008-10-01（万方平台首次上网日期，不代表论文的发表时间）