Visuo-Haptic Interface for Teleoperation of Mobile Robot Exploration Tasks

摘要

With the spread of low-cost haptic devices, haptic interfaces appear in many areas in the field of robotics. Recently, haptic devices have been used in the field of mobile robot teleoperation, where mobile robots operate in unknown and dangerous environments performing particular tasks. Haptic feedback is shown to improve operator perception of the environment without, however, improving exploration time. In this paper, we present a haptic interface that is used to teleoperate a mobile robot in exploring polygonal environments. The proposed visuo-haptic interface is found to improve navigation time and operator perception of the remote environment. The human-operator can simultaneously select two different commands, the first one being set as "active" motion command, while the second one is set as a "guarded" motion type of navigation command. The user can feel a haptic equivalent for both types of teleguidance motion commands, and can also observe in real-time the sequential creation of the remote environment map. Comparative evaluation experiments show that the proposed system makes the task of remote navigation of unknown environments easier