차동 구동형 모바일 로봇의 효율적인 운용을 위한 우선순위 기반의 원격제어 시스템

Abstract

In situations where mobile robots are operated either by autonomous systems orhuman operators, such as smart factories, priority-based teleoperation is crucial for the multipleoperators with different priority to take over the right of the robot control without conflict. Thispaper proposes a priority-based teleoperation system for multiple operators to control therobots. This paper also introduces an efficient joystick-based robot control command generationalgorithm for differential-drive mobile robots. The proposed system is implemented with ROS(Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobilerobot platform. The experimental results demonstrate the effectiveness of the proposed joystickcontrol command algorithm and the priority-based control input selection.