抄録
In this paper, we propose a teleoperation system supported by an autonomous mobile technique. The traveling direction of the robot is roughly determined by the operator, and that motion planning is executed to achieve a safe driving. In the motion planning phase, multiple trajectories that take into account the mobility of the robot are generated, and the most optimal trajectory is singled out through several evaluations. These evaluations consider a risk of collision, a smoothness of the trajectory, and a difference between traveling directions and terminal states of trajectories. The risk of collision is checked by using 2D navigation map obtained from the laser scanned data. By the above-mentioned technique, we construct a teleoperation system which attains safe driving and desired motion of the robot. The effectiveness of the proposed method is proved through the experiment in complex environments.
