Mobile platform simulation and control via virtual reality

Author

Abenavoli, Romano I. ; Amoroso, Alessandro ; Kormanski, Henryk ; Rudzinska, Krystyna

Author_Institution

Dept. of Mech. & Aeronaut., Rome Univ., Italy

Volume

2

fYear

2003

fDate

12-15 Oct. 2003

Firstpage

1589

Abstract

In this paper we discuss possible application of virtual reality (VR) for simulation and control of a mobile platform when effective human-robot collaboration is required. The idea of the human interface system consists in cooperation of two mobile platforms/robots: one operating in real world and other in a virtual world. Such a teleoperation system, based on virtual images generated by 3D computer graphics, allows to compensate for delayed or incomplete data set from real world. The performance of the developed system has been examined through experiments with a mobile platform equipped with on-board hardware for collision-free navigation.

Keywords

collision avoidance; graphical user interfaces; mobile robots; real-time systems; telecontrol; virtual reality; 3D computer graphics; collision-free navigation; human interface system; human-robot collaboration; mobile platform control; mobile platform simulation; mobile robots; teleoperation system; virtual reality; Algorithm design and analysis; Collaboration; Humans; Image generation; Mobile robots; Navigation; Robot control; Robot kinematics; Virtual prototyping; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE

Print_ISBN

0-7803-8125-4

Type

conf

DOI

10.1109/ITSC.2003.1252752

Filename

1252752