知的データキャリアを利用した移動ロボットの自律的遠隔操作

抄録

In this paper, we propose an autonomous teleoperation system with IDCs (Intelligent Data Carriers). An IDC is a device to enable the working environment to work as an agent of the system. In conventional teleoperation techniques, the load of the task execution is shared by the operator and the robot as a teleoperated target system. However, the proposed teleoperation system allows the load to be shared by the operator, the robot and the IDC as a local information strage of the environment. By using IDCs for the teleoperation system, the required sensing ability of the robot can be reduced, because the robot can take the information about local working environment from IDCs which are placed in the remote environment. This implies the effectiveness of implicit collaboration among the operator, the robot and the remote environment. In this paper, we make some experiments with the real system through the Internet to show the effeciency of this system.