Abstract
Communication time delay in teleoperation of a moon robot from the earth is an important subject and should be considered. Mobile robot teleoperation method considering time delay is proposed in this work. The proposed method uses a synthesized bird's-eye view image which is synthesized using environmental images captured by the mounted camera on the robot in advance without reconstructing the three-dimensional environmental model of the remote site. The virtual controlled robot which can be controlled in the virtual environment where there is no communication time delay is introduced and controlled by an operator. Communication time delay is handled by the autonomous movement of the real robot which moves autonomously to realize the movement of the controlled robot based on the controlled robot and real environmental information. We have implemented the teleoperation system which can handle communication time delay based on the proposed method. It is confirmed that the proposed method can be applied to robot teleoperation which has communication time delay according to the results of conducted experiments which have virtual time delay.
