On the Navigation Autonomy of Multiple Mobile Robots in Tele-Robotics

在本研究中，当一个人在远程站点通过一个操作站点的主机器人间接操作一个从机器人时，本文研究了操作站点和远程站点需要什么样的软件。为此，我们设计了智能移动机器人和机器人机械手，然后我们考虑人类如何在几种软件的帮助下操作这些机器人。首先，我们在移动机器人和机械臂中安装了在线和离线避障算法。然后，在包括GPS（全球定位系统）在内的传感误差下，我们通过机器人到目的地的收敛速度或机器人在目的地附近的收敛鲁棒性来评估它们。特别地，我们研究了哪种算法适合于监督一个非完整的移动机器人。其次，当人对机器人机械手进行操作时，什么样的空间（欧氏空间还是位形空间）适合对机械手进行监督。不幸的是，由于更多的新实验，我们无法确定哪个空间更好，但在一种任务或任务的一部分中，一个空间完全优于另一个空间。因此，我们将在未来确定任意性工作或其部分哪个更好。为了构造位形空间（障碍物），提出了一种机械臂连杆或机械臂与静态障碍物之间的快速碰撞检测算法。此外，我们将该算法扩展到在三维图形（虚拟）世界中人工产生摩擦力和冲力。最后，我们在本研究中实际构建了一个主从机器人系统，然后验证了智能机器人和人在同一环境中运行的共享自治系统的有效性。系统总是包括操作和远程站点之间的传输延迟，以及机器人，控制和传感的一组错误。首先，如果主从机器人通过经典的双边控制直接连接，我们检查在操作现场的人是否在舒适地感受远程站点的摩擦和冲力的同时组装了许多任务。其次，由于操作地点和远程地点相距较远，我们在操作员旁边准备了一个图形环境，操作员在观察虚拟从机及其环境的同时选择一个良好的任务运动序列。在这里，我们通过实验来检验远程操作的灵活性，如果在操作地点除了操作员之外还存在一个从站点的预测显示。此外，我们还通过实验验证了在图形计算机（虚拟环境）中，操作人员是否可以人工感受到摩擦力和冲力的远程操作的舒适性。最后，我们检查了从机器人是否完全受到基于传感器的路径规划的保护（避免机器人与障碍物之间的意外碰撞）。这是远程站点的从机器人在克服机器人、控制和传感错误以及大传输延迟时的故障安全功能。少

In this research, when a human operates a slave robot at a remote site indirectly by a master robot at an operation site, what kind of software required at operation and remote sites are investigated in this paper. For this purpose, we design intelligent mobile robots and robotic manipulators, and then we consider how a human being operates these robots with the help of several kinds of software.First of all, we install on-line and off-line obstacle avoiding algorithms in mobile robots and robotic manipulators. Then, we evaluate them by convergence speed of a robot to its destination, or convergence robustness of a robot near its destination under sensing errors including GPS (Global Positioning System). Especially, we investigate which algorithm is suitable for supervising a non-holonomic mobile robot.Secondly, when a human operates a robotic manipulator, what kind of space (Euclidean space or configuration space) is suitable for supervising the manipulator. Unfortunately because of f … More ew experiments, we cannot determine which space is better, but in a kind of task or a part in a task, one space is completely better than another space. Therefore, we will determine which is better in an arbitrary work or its part in future. Here, in order to construct a configuration space (obstacle), we propose a fast collision-check algorithm between links of a manipulator or a manipulator and its static obstacles. Also, we extend the algorithm to generate friction and impulse forces artificially in a 3-D graphics (virtual) world.Finally, we build a master-slave robot system practically in this research, and then check usefulness of the shared autonomy system where intelligent robots and peoples run in the same environment. The system always includes a transmission delay between operation and remote sites, and a set of errors of robot, control, and sensing. Firstly, if master and slave robots are directly connected by a classic bilateral control, we check whether a human being at an operation site assembles many tasks while feeling friction and impulse forces made at a remote site comfortably. Secondly, since operation and remote sites far from each other, we prepare a graphics environment beside an operator, and the operator selects a good sequence of task motions while watching virtual slave robot and its environment. Here, we check flexibility of the remote operation experimentally if a predictive display of a slave site besides an operator exists at an operation site. In addition, we check comfortableness of the remote operation experimentally if an operator can feel friction and impulse forces artificially at a graphics computer (virtual environment). Finally, we check whether a slave robot is completely protected by the sensor-based path-planning (avoiding an unexpected collision between a robot and its obstacle). This is a fail-safe function of a slave robot at a remote site while overcoming robot, control, and sensing errors, and a large transmission delay. Less