2A1-E08 A Remote Navigation System Based on Human-Robot Cooperation(Cooperation between Human and Machine)

Abstract

This study aims to achieve a remote mobile robot control system that commands by a human operator and autonomous movement of the robot are effectively integrated. At first, the operator determines a destination on a map of remote site. The robot at remote site estimates self-positions with occupancy grid maps and scanning matching. The robot performs path planning to the destination and supports operations by human. Some remote navigation experiments are conducted and effectiveness of the proposed system is shown.