Robot Movement Based on Integration of Teleoperation and Autonomous Operation

Abstract

This paper describes the integration system of teleoperation and autonomous operation for a mobile robot. We developed the four-wheeled mobile robot that has several sensors capable of recognizing environments. The teleoperation is controlled by a tablet device. The autonomous operation is controlled by the fuzzy control based on GPS and a laser range finder. The integration system is composed of an update formula of control weights for obstacle distances and the weighted average calculation. In obstacle avoidance experiments, the effectiveness of the integration system is confirmed.