Design of mobile robot teleoperation system based on virtual reality

摘要

This paper presents the remote control of a mobile robot via internet. To solve the problem of delay time which is unpredictable, direct teleoperation architecture is proposed. This architecture allow s us to minimize the trajectory error of the robot movement which is controlled via the internet. This work also demonstrates the use of virtual reality in the context of the remote control. Virtual reality can be used in a conventional manner to simulate the behavior of a system, but also in parallel with the real system to improve quality control. To validate our work, we conducted teleoperation experiments in various places. Experimental results show the effectiveness of the proposed architecture.