TY - GEN
T1 - Safeness visualization of terrain for teleoperation of mobile robot using 3D environment map and dynamic simulator
AU - Awashima, Yasuyuki
AU - Fujii, Hiromitsu
AU - Tamura, Yusuke
AU - Nagatani, Keiji
AU - Yamashita, Atsushi
AU - Asama, Hajime
N1 - Funding Information:
ACKNOWLEDGMENTS This work was in part funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). The authors also would like to thank the members of Intelligent Construction Systems Laboratory, the University of Tokyo, for useful suggestions, especially Mr. Shingo Yamamoto and Mr. Takumi Chiba from Fujita Corporation and Dr. Kazuhiro Chayama from KOKANKYO Engineering Corporation.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - In teleoperation of mobile robots on rough terrain, there is a risk that robots might tumble because of the inclination or unevenness of the ground. In this paper, we propose a method to evaluate in advance the stability of robots on assumed routes, and to provide visual information of the stability to the operator. Specifically, by using a 3D environmental map and dynamic simulator, the stability of robots on a terrain with respect to whether the robots are going to tumble or not is calculated. Following this, the information of the stability is visualized as a bird's-eye view image, which is one of the most useful images for the teleoperation of robots. By comparing the results of the actual experiments with those of the dynamic simulator, the validity of the proposed method for the evaluation of stability is demonstrated. The proposed method can help operators to choose suitable routes, and improves the safety in teleoperation of robots.
AB - In teleoperation of mobile robots on rough terrain, there is a risk that robots might tumble because of the inclination or unevenness of the ground. In this paper, we propose a method to evaluate in advance the stability of robots on assumed routes, and to provide visual information of the stability to the operator. Specifically, by using a 3D environmental map and dynamic simulator, the stability of robots on a terrain with respect to whether the robots are going to tumble or not is calculated. Following this, the information of the stability is visualized as a bird's-eye view image, which is one of the most useful images for the teleoperation of robots. By comparing the results of the actual experiments with those of the dynamic simulator, the validity of the proposed method for the evaluation of stability is demonstrated. The proposed method can help operators to choose suitable routes, and improves the safety in teleoperation of robots.
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U2 - 10.1109/SII.2017.8279211
DO - 10.1109/SII.2017.8279211
M3 - Conference contribution
AN - SCOPUS:85050855722
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 194
EP - 200
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -