Mobile robot remote control and

duewestseaurchinAI and Robotics

Nov 14, 2013 (3 years and 11 months ago)

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Mobile


robot remote control and
communication system design


P. Petrova, R. Zahariev

Central Laboratory of Mechatronics and Instrumentation

Bulgarian Academy
of Sciences

Telerobot
-
Control and Communication

2

Telerobotics


Introduction


History and use of Telerobots


Virtual Reality


Teleoperation


Teleoperation and Telepresence


Tele
-
action


Interfaces


Wireless connections: Wi
-
Fi, Bluetooth


“threaded” connections


Internet


Telerobot
-
Control and Communication

3

Main Applications


Exploration, monitoring and surveillance


Space exploration


Underwater/surface exploration


Wildlife observation


Fire awareness monitoring


Debris cleaning and human rescue


Spy
-
robots


Household and education


Household appliances control


Virtual simulators and games


Virtual
-
distance laboratories


Manipulations from distance, indirect manipulations


Bomb defusal


Tele
-
surgery


Nuclear decontamination and decommissioning


Telerobot
-
Control and Communication

4

Telerobot Characteristics


Operation mode


Autonomous cyclic operation


Semi
-
autonomous


surveillance algorithm can be interrupted by
operator


Operator
-
controlled


Control interfaces


Combination of several interfaces working interchangeably


Possible direct (RF) or indirect (Network) control


Structure


Form


Components


Movement method


wheels, caterpillar tracks stc.

Telerobot
-
Control and Communication

5

Hardware

Mobile



Robot

components
:


Monitoring



camera

and

microphones



Sensors



possibility

for

night

vision

(IR),

distance

sensors,

obstacle

sensors


Autonomous

power

supply



long

lasting,

easy

changeable/

rechargeable,

power

saving

operation



Local

data

storage



backup


Network

components
:


Server

PC


Client

PCs



Telerobot
-
Control and Communication

6

Access Types


SOSR, single
-
operator multiple
-
robot


Most networked robots are SOSR, where control is limited to one
human operator at a time


each operator controls one robot arm and the robot arms have
overlapping workspaces


MOMR multiple
-
operator multiple
-
robot


MOMR models are also relevant to on
-
line collaborative games,
where players remotely control individual avatars in a shared virtual
environment


SOMR single
-
operator multiple
-
robot


one human operator controls multiple robots. A variant is no
-
operator
multiple
-
robot (NOMR) systems, sometimes called collaborative or
cooperative robotics, where groups of autonomous robots interact to
solve an objective


MOSR multiple
-
operator single
-
robot


serial pipelined communication, with overlapping plan and execution
phases; such collaboration improves overall execution time, but do
not address conflict resolution between user



Telerobot
-
Control and Communication

7

MOSR Network Structure

Telerobot
-
Control and Communication

8

System Structure

Telerobot
-
Control and Communication

9

Communication Software


Top

Level



Server
-
Client
-
based


Server application


Client application


Java based applet


Low

Level



embedded


Embedded C/C++ based control program


Global trajectory planning


Obstacle avoidance and smoothing algorithms


GPS information and control




Telerobot
-
Control and Communication

10

GUI


Off
-
the
-
shelf

realization

-
LabView


Widely used software
environment


Facilitates modification
of functionality


Enables visual robot
programming


Custom
-
made

realization



Visual

C++


Component
-
based
software approach


Low
-
level control
functions integration


Library implementation


Graphical

programming

techniques

can

be

used

the

implementation

LabView

Telerobot
-
Control and Communication

11

Software Operation Modes


Access


Direct online monitoring


“live” feed


robot
-
> operator


Downloadable client
-
server applications


bidirectional
communication


Direct RF control


short range
-

bidirectional


Data

transfer

and

storage


Server side data storage


Data visualization


calculations and formatting algorithms


Online activity history

Telerobot
-
Control and Communication

12

Security Issues


Hardware reliability in hazardous environment


Operations queue


prioritization


Malicious activity reliability


Platform independency


TCP advantages/disadvantages


User Access/Registration


management


Do we want anybody to be able to access and operate the robot?


Operation mode management



Telerobot
-
Control and Communication

13

Conclusions


The

described

architecture

provides

versatility

to

the

mobile
-
robot,

allowing

for

application

modification


The

combination

of

commercial

and

custom
-
designed

software

facilitates

the

design

and

provides

higher

reliability


The

system

could

enhance

the

conduction

of

some

on
-
field

measurement

experiments,

allowing

“on
-
line”

access

without

necessary

human

presence