A Review on Teleoperation of Mobile Ground Robots: Architecture and Situation Awareness
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
A Review on Teleoperation of Mobile Ground Robots: Architecture and Situation Awareness Samwel Opiyo, Jun Zhou*, Emmy Mwangi, Wang Kai, and Idris Sunusi Abstract: Currently, the application of mobile ground robots spans a range of fields from surveillance, search and rescue, exploration, agriculture, military among others. In unstructured and dangerous environments such as disaster scene, military fields or chemical spray in agricultural farms, the experience and intelligence of the operator are necessary for making complex decisions beyond the autonomy of the robot. In such cases, teleoperation allow the operator to guide the robot in achieving complex task from a safe location. The effectiveness with which the operator controls the robot depends on, among others, operator’s awareness of the robot’s environment, the quality of communication link, the robustness of robot’s control system and experience of the human operator. Ground mobile robots form the basis of this work since they are applicable in many fields and mostly operate in dynamic environments that require additional guidance from a human operator. This study reviews research work on mobile robot teleoperation systems, and puts more emphasis on the architecture, communication link and situation awareness creation. Moreover, future trend in mobile robot teleoperation is also put forward in this review to give ground for new research work in this field. Based on the sited literature, it is noted that making the operator feel present in the robot’s environment through sufficient visual and force feedback as well as use of good quality network, significantly improve the navigation efficiency and task achievement of mobile ground robots. Keywords: Human-robot interaction, mobile ground robot, semi-autonomous robot. situation awareness, teleoperation, teleoperation architecture.
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INTRODUCTION
Teleoperation system is a system that allows human operator to interact with a remote environment [1, 2]. The term teleoperation is derived from two Greek words tele and operation meaning distance and to carry out a task respectively. The distance may be physical, for instance, a human operator controlling a robot at a remote location, or a change in scale such as a surgeon employing teleoperation to carry out surgery at the micro-scale level. Boboc et al. [3] define teleoperation as the operation of a robot or a system from a distant location when the operating environment is dangerous or impractical. This method differs from passive monitoring since it allows the operator to actually interact with the robot’s environment [4] through the commands and feedback from the remote site. This mode is of great importance since humans can recognize and adapt to the environmental changes hence can control the robot better in complex situations. Fig. 1 shows a flow chart describing teleoperation process. In the figure, the
operator in a local environment issues commands that are processed for transmission over a c
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