The Application Research Of The Mobile Robot Teleoperation System Based On The Virtual Reality Technology

Network technology extends the application of the traditional technology, and telerobotics system is a new trend of the network applications. During the composition of this dissertation, all people in the world are focusing on the NASA's "Opportunity" and "Spirit" Rovers exploring the Mars and sending the data and pictures back to earth, and achieving great success. Many governments express their interesting to explore the outer space. It is clear that the telerobotics is the technical zenith which congregates both high technical talents and high technology and every governments chasing after. But many questions are still under solving, such as how to control the mobile robot reliably, quickly, expediently and precisely, are important questions.This dissertation is under the project support of Natural Science Foundation of Tianjin, Web-Based Remote Control Agent System (023615011), takes advantage of the Virtual Reality technology, and builds a Internet-based mobile robot teleoperation system based upon TUT-1 mobile robot (or TUT-1 automatic guided vehicle-AGV). The dissertation provides the theory and practical solution of pinpointing; creates the dynamic/kinematics simulation model of virtual AGV, which is employed to select the optimal configuration and control strategy as changing the physical parameters online in order to reduce the cost and time of the real AGV modification; provides a simulation platform which is linking to the real AGV and achieving the goal of quick and convenient teleoperation; creates a three-tier task deduction system based upon the theory of Petri Net and Projective Virtual Reality reaching the goal of reducing time delay of teleoperation and reliably controlling system; creates a virtual tracker which is employed to acquire the actual position and orientation and updating the virtual reality scene displayed on the client computers based upon the theory of three dimensional position measuring, achieving the goal of binding the real scene and virtual scene of AGV in order to assist to reduce the teleoperation time delay and control system more reliably.Finally, the optimal configuration and control strategy are acquiring through the running of the virtual AGV model; the TUT-1 telerobotics system is proved to achieve the objective of reducing the time delay and controlling system more reliably and expediently. Above all, the dissertation is mainly analyzing and studying the key topics, such as reducing teleoperation time delay, reliable and convenient system control questions, etc., and achieves some important results, which devote to the theory and experiences of the mobile robot teleoperation.