Semi-autonomous Motion Generation of Remote-controlled Robot by Dynamic Window Approach Considering Temperature Distribution in Unknown Environment

Abstract

At the disaster site, it is necessary to operate the robot remotely based on limited information. In such an environment, it is important to take into account high temperature areas in the environment where progress is impossible. In this paper, we propose a method for generating semi-autonomous control motions that reflects the operator’s intention. To this end, the proposed method extends the evaluation function of the dynamic window approach (DWA), a method for generating autonomous motions considering obstacle avoidance. The experimental results show that the robot is able to avoid collisions with obstacles and to avoid the high temperature zone without delicate operation by the operator.