AUTONOMOUS AND TELEOPERATED CONTROL OF THE AURORA MOBILE ROBOT

摘要

This paper presents the main components of a control architecture that allows both autonomous and teleoperated navigation in agricultural and industrial environments with high obstacle density. They support user interaction, task execution, navigation, and feedback control. The architecture combines parallel behavior control concepts with hierarchical organization. Moreover, the architecture allows multilevel remote operator intervention for monitoring and control. The paper emphasizes the components (sensors and controllers) to implement motion and feedback control, as well as the teleoperation station integration. The control architecture has been implemented to control the AURORA mobile robot. The efficiency and robustness of the components have been tested in the experiments with this mobile robot. The paper includes a description of an autonomous navigation experiment.