A Study on Remote Control of Omnidirectional Mobile Robots

Abstract

In recent years, research and introduction of autonomous mobile robots has accelerated due to the declining labor force. However, human intervention is essential when trouble occurs with autonomous mobile robots. Therefore, a quick response can be expected by introducing a remote-control system for autonomous mobile robots. However, in many cases, the robot to be operated is nonholonomic, making it difficult to operate in a confined environment. Therefore, by using holonomic omnidirectional mobile robots as the target of teleoperation, a high degree of freedom of movement can be achieved. In this study, nonholonomic and holonomic robots were remotely controlled to pursue the influence of the presence or absence of motion constraints on teleoperation. As an evaluation test of the influence, we remotely controlled the robot in its initial position, measured the time it took to plug the charging plug mounted on the robot into a power outlet, and then considered the results of the test.