抄録
For search and rescue mission, it is important for mobile rescue robots to navigate in unknown environments and to map them. In such situation, three dimensional information is very useful to support robotic teleoperations used in locating victims and aid rescue crews in strategizing. However, to obtain this 3-D information, the operators must wait a few seconds and halt the robot's operation using conventional scanning systems. To solve this problem, our research group proposed a continuous acquisition of three-dimensional environment information for tracked vehicles using the three-dimensional gyro-based odometry. In this research, on the basis of the above system, we developed a tele-operation method for mobile robots that allows time delay and narrow bandwidth wireless communication. In this paper, we introduce the developed tele-operation system and report experimental results to confirm a validity of the system.
