A HybridAutonomous /Teleoperated Strategy forReliable Mobile RobotOutdoor Navigation
Seung-Hun Kim · 2006
This paper demonstrates areliable navigation strategy ofamobile robot teleoperated inoutdoor environment. Thenavigation system fortheteleoperated mobile robot consists ofamobile robot andacontrol station. Themobile robot sends theimage data fromacamera tothecontrol station. Thecontrol station receives anddisplays theimage data andtheteleoperator commands themobile robot based ontheimage data. Since theimage data doesnotcontain enough dataforreliable teleoperation, ahybrid autonomous/teleoperated strategy forreliable mobile robot inoutdoor environment issuggested. Whenthemobile robot isfaced withunexpected obstacles orthesituation that, ifitfollows thecommand, itcanhappen tocollide, itsends awarning message totheteleoperator andchanges themodefrom teleoperated toautonomous toavoid theobstacles byitself. After avoiding theobstacles orthecollision situation, the modeofthemobile robot isreturned toteleoperated mode. Andalso, wefuse differential GPSandodometry data using theframework ofextended Kalmanfilter tolocalize themobile robot. We havebeenabletoconfirm thatthe appropriate change ofnavigation modecanhelptheteleoperator perform reliable navigation inoutdoor environment through experiments intheroadway.