A Teleoperation System for Semi-autonomous Reconnaissance Robot

摘要

@@Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have beenaddressed.A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combinethe complementary capabilities of both robot’s local autonomy and human intelligence is proposed firstly.Then,a novel autonomous mission executive mechanism based on macro behavior and a hybrid behaviorcoordination mechanism is brought out.Meanwhile,several intelligent behaviors are defined briefly.The implement method of teleoperation system software based on multi-agent system is introduced in succession.Finally,a visualized human-robot interface with live video/audio,3D drawing simulation,and graphic missionplanner is presented.Experimental results demonstrate the autonomous mission executor is able to interpretand execute the planned mission specification successfully,and the human-robot collaborative teleoperation system for semi-autonomous reconnaissance robot has excellent property of telepresence,flexibility and robustness.