Distributed Teleoperation System for Controlling Heterogeneous Robots Based on ROS

摘要

In this paper, we propose a distributed teleoperation system for controlling heterogeneous robots, which improve the problem of the communication of different kinds of robots based on the robot operating system (ROS). The system includes modules for massive data management and multi-level communication, which improves the reuse rate of software code and the flexibility of the robot hardware system by adjusting the overall architecture of the system and decoupling of software and hardware. In our experiments, the distributed control system of the heterogeneous robot was used on the distributed communication and control of the wheeled mobile robot and the humanoid robot, and the remote operation of the heterogeneous robot in the wireless network was successfully realized through the keyboard.