Supervision and teleoperation system for an autonomous mobile robot

Abstract

In this paper a supervision and teleoperation system for an autonomous mobile robot is presented. The main hardware and software components of this system including the vehicle, sensors and navigation system are briefly described. The emphasis of this article is on methods for effective presentation of multisensor data to the human operator and on methods for cooperation between the operator and navigation system of the robot. A graphical user interface with 2D and 3D animation is presented. Experimental results are discussed.