Investigation of Teleoperation Support System Using Environmental Recognition Sensors for Three-Parallel-Crawler-Type Mobile Robot

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  • Higashi Mizuki
    Graduate School of Advanced Technology and Science, Tokushima University
  • Suzuki Hiroshi
    Graduate School of Advanced Technology and Science, Tokushima University
  • Sejati Purnomo
    Graduate School of Advanced Technology and Science, Tokushima University
  • Yasuno Takashi
    Graduate School of Advanced Technology and Science, Tokushima University
  • Kuwahara Akinobu
    Graduate School of Advanced Technology and Science, Tokushima University

Abstract

In this paper, we propose a simple method for the safe teleoperation of a three-parallel-crawler-type mobile robot with distance range sensors and a wireless camera having a fisheye lens. The method enables the robot to avoid collision when a distant operator manipulates the robot by viewing a streaming video. In addition, notifications of danger are shown on the control interface screen and an audible alarm informs of the risk of collision by using information obtained from distance-measuring sensors. The validity of this system was evaluated during on the basis of experimental results for the effectiveness the sensors during operation.

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