Human-supervised multiple mobile robot system
Human-supervised multiple mobile robot system
复制标题
人类监督的多移动机器人系统
DOI：
10.1109/tra.2002.803465
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
T. Arai
中科院分区：
文献类型：
--
作者：
A. Nakamura;J. Ota;T. Arai
为了使机器人能够在未知环境中完成任务，必须围绕以下三点进行研究：(1)设计操作员对机器人的命令；(2)环境识别，向操作员显示机器人正在工作的远程工作区的信息；(3)系统与操作员的接口和操作员工作区的信息显示。对于(1)，重点是单个操作员对多个机器人的操作。对于(2)，问题分为两个部分：目标识别和自我定位。对于(3)，实现了图形用户界面。操作员主要使用鼠标输入命令，操作员观看虚拟环境来监控远程工作区。利用通过上述(2)中描述的方法获取的环境信息来构建虚拟环境。在上述问题得到解决后，我们的系统将提供一个灵活的指挥和监控结构，操作员将能够适当地指挥机器人。这些是我们提出的方法的主要优点。通过实验验证了所提方法的有效性。
In order that robots may achieve tasks in unknown environments, research focusing on the following three points must be conducted: (1) design of commands from the operator to the robots; (2) environmental recognition to show the operator information about the remote work area where robots are working; and (3) interface between a system and the operator and information display of the work area for the operator. For (1), the focus is on the operation of the multiple robots by a single operator. For (2), the problem is divided into two parts; object recognition and self-positioning. As for (3), a graphical user interface is implemented. The operator mainly uses a mouse to input commands, and the operator watches a virtual environment to monitor remote working areas. The virtual environment is constructed with the environment information acquired by the method described in (2) above. After the problems mentioned above are solved, our system will provide a flexible command and monitoring structure and an operator would be able to command the robots appropriately. These are the main advantages of the method we are proposing. We verified the effectiveness of the proposed methods in experiments.