Teleoperation system with virtual 3D diorama for moving operation of a tracked rescue robot

摘要

In general, a game pad and images from a camera mounted on a robot are used for the teleoperation of a rescue robot. However, teleoperation is difficult for inexperienced users because the relationship between the user input and robot motion is not always intuitive. Therefore, we propose an interface in which the operator operates a robot as if touching it directly in a virtual 3D space. In our previous research, we developed a virtual direct teleoperation system for a tracked rescue robot and realized teleoperation of its flipper arms and a manipulator. In this study, we realize the moving operation of a tracked rescue robot. In addition, we develop two sight-presentation methods when the operator moves the robot. These are compared with the conventional method by conducting an experiment with subjects in the field called “jungle gym,” which is considered difficult for teleoperation. It is appeared that proposed method is easier to grasp surrounding situation than the conventional method. In addition, we confirmed a more effective sight-presentation method using this system.