DocumentCode :
3370758
Title :
Human-robot collaborative teleoperation system for semi-autonomous reconnaissance robot
Author :
Tang, Hongru ; Cao, Xiaosong ; Song, Aiguo ; Guo, Yan ; Bao, Jiatong
Author_Institution :
Sch. of Energy & Power Eng., Yangzhou Univ., Yangzhou, China
fYear :
2009
fDate :
9-12 Aug. 2009
Firstpage :
1934
Lastpage :
1939
Abstract :
Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have been addressed. A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combine the 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 behavior coordination mechanism is brought out. Meanwhile, several types of intelligent behavior 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 mission planner is presented. Experimental results demonstrate the autonomous mission executor is able to interpret and 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.
Keywords :
control engineering computing; groupware; human-robot interaction; mobile robots; multi-agent systems; telerobotics; virtual reality; SAMRA; autonomous mission executive mechanism; autonomous mission executor; human-robot collaborative semi-autonomous mobile robot architecture; human-robot collaborative teleoperation system; hybrid behavior coordination mechanism; intelligent behavior; macro behavior coordination mechanism; multiagent system; planned mission specification; semiautonomous reconnaissance robot; teleoperation system software; telepresence; visualized human-robot interface; Collaboration; Graphics; Humans; Intelligent robots; Mobile robots; Multiagent systems; Reconnaissance; Robot kinematics; System software; Visualization; human-robot collaboration; human-robot interface; multi-agents system; semi-autonomous reconnaissance robot; teleoperation system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
Type :
conf
DOI :
10.1109/ICMA.2009.5246589
Filename :
5246589
Link To Document :
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