Integration of mobile robot into virtual reality testbed

A combination of virtual reality and networking technologies has provided a basis for virtual environments distributed over a communication network. This paper presents a framework for using these technologies in robotics applications. A robot can be controlled in a virtual environment by creating a corresponding virtual robot and by merging virtual with actual data. In case of mobile robots, the integration of path planning, navigation and motion control is more difficult. In addition, collision avoidance and safety constraints are emphasized. A case study, based on Nomad 200 mobile robot, is presented and some communication issues are discusses.