TOURBOT and WebFAIR: Web-operated mobile robots for tele-presence in populated exhibitions
TOURBOT and WebFAIR: Web-operated mobile robots for tele-presence in populated exhibitions
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TOURBOT 和 WebFAIR：网络操作的移动机器人，用于在拥挤的展览中进行远程呈现
DOI：
10.1109/mra.2005.1458329
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发表时间：
2005
影响因子：
5.7
通讯作者：
C. Stachniss
中科院分区：
文献类型：
--
作者：
P. Trahanias;Wolfram Burgard;Antonis A. Argyros;D. Hähnel;H. Baltzakis;P. Pfaff;C. Stachniss
本文介绍了实现网络操作移动机器人所需的多种技术。这些技术包括有效的地图构建功能、基于距离和视觉信息组合的避障方法，以及先进的网络和机载机器人界面。除了视频流之外，该系统还提供高分辨率虚拟现实可视化，其中还包括机器人附近的人。这增加了界面的灵活性，同时允许用户理解机器人的导航动作。本文中描述的技术已成功部署在欧盟资助的 TOURBOT 和 WebFAIR 项目中，该项目旨在开发能够为网络和现场访客提供服务的交互式导游机器人。这些项目框架内的技术发展带来了强大而可靠的系统，并已在现实条件下得到了演示和验证。同样重要的是，系统设置时间已大大减少，有助于其移植到新环境。
This paper presents a number of techniques that are needed for realizing Web-operated mobile robots. These techniques include effective map-building capabilities, a method for obstacle avoidance based on a combination of range and visual information, and advanced Web and onboard robot interfaces. In addition to video streams, the system provides high-resolution virtual reality visualizations that also include the people in the vicinity of the robot. This increases the flexibility of the interface and simultaneously allows a user to understand the navigation actions of the robot. The techniques described in this article have been successfully deployed within the EU-funded projects TOURBOT and WebFAIR, which aimed to develop interactive tour-guided robots able to serve Web as well as on-site visitors. Technical developments in the framework of these projects have resulted in robust and reliable systems that have been demonstrated and validated in real-world conditions. Equally important, the system setup time has been drastically reduced, facilitating its porting to new environments.