Tele-operated robots for monitoring based on sensor networks

摘要

In this paper, we discuss a robot vision system to perceive people and the environment around a tele-operated mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism. The tele-operated robot is used as a moving sensor device for obtaining local information, while the environmental system is used as a fixed sensor device for obtaining global information. The robot can perceive the environment by receiving and integrating the global information from the environment. First, we apply steady-state genetic algorithms for extracting people and target objects from camera images. Next, we explain the Graphical User Interface (GUI) environment for the teleoperation and how to perform the cooperation between the tele-operated robot and the environmental system. Finally, we show experimental results of the proposed system.