Information Visualization in Intelligent Navigation for Multiple Mobile Robots

摘要

Recently, multiple mobile robots have been used for exploration and remote monitoring in unknown areas. The required functions for human-friendly remote monitoring and control are (1) Extraction of human intention, (2) Semi-autonomous tele-operation, (3) Multi-robot formation behaviors, (4) Sensor fusion for information extraction, (5) Perception of situation, (6) Decision support based on information visualization and (7) Extraction of human interest. We proposed an intelligent navigation system for human-friendly remote monitoring and control. The intelligent navigation system for multiple mobile robots is composed of simultaneous localization and mapping (SLAM), intelligent path planning based on multi-resolution map, 3D information visualization system, and human navigation system based on touch interface. In this chapter, we focus on the information visualization and map building for remote monitoring and control of multiple mobile robots, and show several experimental results of the proposed methods.