In this paper we discuss an approach, based on Virtual Reality application, to interactive prototyping and real-time controlling a mobile robot. It consists in construction of two robots: real one moving in actual world and virtual one existing in three dimensional reconstruction of the same environment. 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 system hardware and multilayer software architecture is discussed. The performance of the developed system has been examined through experiments with a mobile platform. A method, based on Dijkstra's algorithm, for the shortest-route and collision - free navigation was also elaborated and described in the paper.
An Interactive System for Mobile Robot Navigation / Rudzinska, K; Kormanski, H; Carlini, M; IMPERO ABENAVOLI, Romano. - 2005:(2005), pp. 343-348. (Intervento presentato al convegno Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05 tenutosi a Dymaczewo; Poland nel 23-25 giugno 2005).
An Interactive System for Mobile Robot Navigation
IMPERO ABENAVOLI, Romano
2005
Abstract
In this paper we discuss an approach, based on Virtual Reality application, to interactive prototyping and real-time controlling a mobile robot. It consists in construction of two robots: real one moving in actual world and virtual one existing in three dimensional reconstruction of the same environment. 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 system hardware and multilayer software architecture is discussed. The performance of the developed system has been examined through experiments with a mobile platform. A method, based on Dijkstra's algorithm, for the shortest-route and collision - free navigation was also elaborated and described in the paper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
