A Remote Control System for Waypoint Navigation Based Mobile Robot Using JAUS

Abstract

Waypoint navigation is one of the important fundamental functions for autonomous mobile robots. In waypoint navigation, once waypoints are defined, a mobile robot travels through the waypoints autonomously and safely without colliding with obstacles. Depending on the surrounding obstacles or the robot operator, changing predefined waypoints during waypoint navigation may be necessary. This study aims to propose a new waypoint navigation-based mobile robot that can remotely change waypoints during waypoint navigation. To achieve such functionality, we developed a JAUS based controller for remote control. The validity of the proposed approach is demonstrated using simulations and actual JAUS implementation.