A teleoperation system for mobile robot with whole viewpoints virtual scene for situation awareness

This paper presents a teleoperation system to control mobile robot remotely. To provide adequate information for the operator to be aware of the robot situation, the whole viewpoints scenes are generated in the first and the third person point of view by virtual tools. These scenes provide the maps and the spatial information to the operators. To complete a complex task, operators can conveniently select different viewpoints to monitor the robot or target for different task process. Multiple input devices such as keyboard, mouse and joystick are adopted to input the commands, and different operational modes are designed to control the robot in different task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates mobile robot.