An interactive system for mobile robot navigation

Author

Rudzinska, K. ; Kormanski, H. ; Carlini, M. ; Abenavoli, R.I.

Author_Institution

Dept. of Control Syst., Gdansk Univ. of Technol., Poland

fYear

2005

fDate

23-25 June 2005

Firstpage

343

Lastpage

348

Abstract

In this paper we discuss an approach, based on virtual reality application, to interactive prototyping and real-time controlling a mobile robot. It consists in construction of two robots: real one moving in actual world and virtual one existing in three dimensional reconstruction of the same environment. A teleoperation system, based on virtual images generated by 3D computer graphics, allows to compensate for delayed or incomplete data set from real world. The system hardware and multilayer software architecture is discussed. The performance of the developed system has been examined through experiments with a mobile platform. A method, based on Dijkstra´s algorithm, for the shortest-route and collision-free navigation was also elaborated and described in the paper.

Keywords

collision avoidance; compensation; delays; mobile robots; navigation; real-time systems; robot programming; software architecture; solid modelling; telerobotics; virtual reality; 3D computer graphics; 3D reconstruction; Dijkstra algorithm; collision-free navigation; compensation; delayed data; incomplete data; interactive prototyping; interactive system; mobile robot navigation; multilayer software architecture; real-time control; shortest-route navigation; system hardware; teleoperation system; virtual images; virtual reality; Application software; Computer graphics; Image generation; Image reconstruction; Interactive systems; Mobile robots; Navigation; Robot control; Virtual prototyping; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201447

Filename

1554426