A mobile robot control centre for mission and data management

摘要

In this paper, the control and localization of mobile robots using a three-dimensional model of the operating environment is discussed. The authors provide a new concept for a control center which makes use of a virtual reality environment model to improve mission management, operator situation awareness and access to robot sensor information. The model is built from the robot's sensor data together with photos taken by a swivel-mounted onboard camera, and the robot is controlled by a straightforward goal designation in this virtual environment. Furthermore, the model is used to determine the robot's position by comparing the virtual with the real view.