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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hongru Tang Xiaosong Cao Aiguo Song Yan Guo Jiatong Bao |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Energy and Power Engineering, Yangzhou University, 225009, China (Hongru Tang; Xiaosong Cao) || School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China (Aiguo Song; Yan Guo; Jiatong Bao) |
| Abstract | Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have been addressed. A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combine the complementary capabilities of both robot's local autonomy and human intelligence is proposed firstly. Then, a novel autonomous mission executive mechanism based on macro behavior and a hybrid behavior coordination mechanism is brought out. Meanwhile, several types of intelligent behavior are defined briefly. The implement method of teleoperation system software based on multi-agent system is introduced in succession. Finally, a visualized human-robot interface with live video/audio, 3D drawing simulation, and graphic mission planner is presented. Experimental results demonstrate the autonomous mission executor is able to interpret and execute the planned mission specification successfully, and the human-robot collaborative teleoperation system for semi-autonomous reconnaissance robot has excellent property of telepresence, flexibility and robustness. |
| Starting Page | 1934 |
| Ending Page | 1939 |
| File Size | 6527332 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246589 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Collaboration Reconnaissance Robot kinematics Intelligent robots Mobile robots Humans System software Multiagent systems Visualization Graphics human-robot interface semi-autonomous reconnaissance robot teleoperation system human-robot collaboration multi-agents system |
| Content Type | Text |
| Resource Type | Article |
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