Assisted teleoperated navigation system based on 3D mapping

In this paper the authors present a novel method to deal with the time delay and narrow bandwidth limitations inherent to teleoperated mobile robotic systems. This method combines the visualization of two models of the teleoperated robot inside a 3D virtual environment (located in the human operator's side of the system) that represents the area surrounding it. One model represents the position and orientation inside the 3D virtual environment, provided by a Real Time Kinematics Global Position System sensors located on the remotely teleoperated robot and one utilizing a kinematics simulation which represents the position and orientation based on the inputs given by human operator. In this visualization, the human operator has the capability to examine the area surrounding the teleoperated robot through multiple points of view with a single scan from a laser range finder sensor. By comparing the representation of the kinematics-based model to the sensor time delay-affected one, the human operator is capable to determine the deviation from the desired trajectory of the teleoperated robot and correct it.