A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities
A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities
复制标题
基于SLAM的救援室内环境侦察遥操作与接口系统
DOI：
10.1109/iros.2004.1389543
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
--
作者：
T. Tsubouchi;A. Tanaka;A. Ishioka;M. Tomono;S. Yuta
研制远程遥控移动机器人在极端地震破坏建筑物或地下城镇内进行侦察作业是十分重要和必要的。目前作者的目标是开发这样一个远程操作的移动机器人。本文提出了一种远程操作人机界面系统的原型。远程操作机器人与远程操作站通过无线网络连接，操作人员可以对机器人进行指挥。该系统的一个特点是在远程操作站的显示器上为操作人员提供实时的全方位全景图像和实时地图。实时地图表示运动环境的平面图，由SLAM技术提供LRF扫描数据。事实证明，将全景图像与实时地图结合使用是非常有效的。本文还报道了实验设置和综合实验。
It is important and necessary to develop a teleoperated mobile robot to have reconnaissance operation inside of the extreme earthquake stricken building or underground town. The present authors aim at developing such a teleoperated mobile robot. In this paper, a prototype of the teleoperation and man-robot interface system is proposed. The tele-operated robot and the remote operation station is linked with wireless network and the operator can command the robot. One feature point of this system is to provide a live omni-directional panoramic view image and live map to the operator on the display of the remote operation station. The live map represents the floor plan of the moving environment and it is provided by SLAM technology with LRF scan data. It proves very effective to have combined use of the panoramic image and the live map. Experimental set up and integrated experiments are also reported in this paper.