Mobile Robot Destination Generation by Tracking a Remote Controller Using a Vision-aided Inertial Navigation Algorithm

Abstract

-A new remote control algorithm for a mobile robot is proposed, where a remote controller consists of a camera and inertial sensors. Initially the relative position and orientation of a robot is estimated by capturing four circle landmarks on the plate of the robot. When the remote controller moves to point to the destination, the camera pointing trajectory is estimated using an inertial navigation algorithm. The destination is transmitted wirelessly to the robot and then the robot is controlled to move to the destination. A quick movement of the remote controller is possible since the destination is estimated using inertial sensors. Also unlike the vision only control, the robot can be out of camera's range of view.

Tangible Tele-Meeting in Tangible Space Initiative

“…In other words, a telerobotic system provides a framework for connecting humans and robots to reproduce operator actions at a distance. There are numerous research fields for telerobotics such as remote manipulation in space investigation [8], underwater services, telesurgery, minimum invasive surgery, etc.…”

Autonomous Navigation of a Mobile Robot in Unknown Environment Based on Fuzzy Inference

“…Many other real-time control methods applied in static environment have also been developed. Such as in [5], a navigation method combined with the inertial sensors based on an improved remote control algorithm for mobile robots was proposed. Researchers in [6] developed an expanded guide circle method for the navigation problem of mobile robots and improved the efficiency of the remote operation.…”