Command and Control of Autonomous Mobile Vehicle Robots Using Mobile Phone and Computer via Internet

摘要

This paper describes the techniques for command and control of autonomous mobile vehicle robots using a mobile phone and a mobile computer via Internet. The autonomous unmanned ground vehicle robot(UGV) developed at Artificial Life and Robotics Laboratory of The University of Oita is called "Tarou". We show the techniques for Tarou to perform the tasks as follows; (1) an efficient sensor fusion from many sensors(vision, audio, geographic, etc.), (2) synthesizing and understanding the data including on-line image obtained from sensors installed with Tarou, (3) formulate the next course of action. The techniques developed enable Tarou to obtain the powerful ability for autonomous sensing and dynamic mobility for locomotion and navigation. The experiments for sending command and control to Tarou's tasks were performed successfully by the public Internet. The techniques developed could dramatically increase the performance of the autonomous unmanned ground vehicle robots for a future robotic defense system need.