Virtual reality head-tracking observation system for mobile robot

Previously, Hybrid-Routing Algorithm Model was proposed by the Structures, Pointing, and Control Engineering (SPACE) University Research Center¹ at California State University of Los Angeles (CSULA). The Hybrid-Routing Algorithm Model utilizes semi-autonomous control during robotic operations in unknown, remote, hazardous, or otherwise inaccessible terrains. In order to observe and monitor mobile robot´s surroundings, an onboard virtual reality system has been designed and implemented. It operates by remotely following the commanded movement of the robotic mission operator´s headset. The proposed design features the Inertial Measurement Unit (IMU) chip secured to the center of the iTV-goggles unit., which is worn by the robotic mission operator. Direction cosine matrix algorithm is used to update the body coordinates of the IMU chip to the global reference system. Euler angles are computed based on the angular orientation of the mission operator´s headset and are transmitted to the mobile robot. The observation system contains multiple servo motors that rotate onboard camera based on the received pitch roll, and yaw information. The observation system transmits compressed visual information of robot´s surroundings to the Host Computing Station. This video is rendered via iTV-goggles display to the mission operator.