Event-based tele-presence of a mobile service robot

摘要

A new vision-based planning and control scheme for a mobile service robot is presented, which consists of two-driving wheels and two arms, two stereo cameras and a microphone. First, the event-based vision-based planning and control is introduced. Based on the network, real-time multimedia data and control command can be transferred to the robot such that the robot can fulfill the desired task, meanwhile, the operator can obtain the state information of the robot immediately and send control command to the robot in real time. The most important step is the design of an event-based motion reference for the teleoperation system. The motion reference is decided by the vision information. It drives the system to achieve the tele-presence. vision-based motion controllers which are able to perform a large class of tasks are designed based on the combination of general task space. The event-based teleoperation scheme was experimentally implemented and tested for the control of a mobile service robot.