In this paper, we propose a simple method for the safe teleoperation of a three-parallel-crawler-type mobile robot with distance range sensors and a wireless camera having a ﬁsheye lens. The method enables the robot to avoid collision when a distant operator manipulates the robot by viewing a streaming video. In addition, notiﬁcations of danger are shown on the control interface screen and an audible alarm informs of the risk of collision by using information obtained from distance-measuring sensors. The validity of this system was evaluated during on the basis of experimental results for the effectiveness the sensors during operation.
2016 Research Institute of Signal Processing, Japan