Abstract
This paper describes a remote operation system for mobile service robots using RT middleware. The operation system supports the monitoring of the robot status and the scene around the robot, and a manual control through the internet. We developed two RTC-based programs and three standalone programs. The RTC-based programs are a robot control component and a transmission component which sends robot status or receives commands over TCP/IP. The standalone programs are a video server, an environment map sender and a client of operation software. We conducted experiments to verify that the system combining RTCs for robot control, LRF control, SLAM work successfully.
