Key Technologies Research Of Teleoperation Based On Augmented Reality For Mobile Robot

Augmented Reality inherits and develops the advantages of Virtual Reality technologies, simulates the virtual environment based on things that actually exists in the real world, such as vision, hearing, taste, touch, and so on, and overlays the virtual environment and the real environment to achieve the seamless fusion, accordingly improves and enhances the disadvantages of Virtual Reality.The paper aimed to use AR technology, to achieve the overlay display of predictive simulation and real images, to set up a working environment for teleoperation. Based on this method, the paper attempted to do some research on control strategy in AR environment, to realize the purposes of the environment perception information reconstruction and real-time tracking for mobile robot, to enhance the operator’s environment immersion, to achieve the teleoperation target of mobile robot in remote environment for users. The main work of this paper are as follows:Firstly, the paper applied the tracked mobile robot as model, adopt the hierarchical control mode to control it, analyzed the construction method for the system by four aspects, such as structure of the body, the control system, the communication system, the interactive system, and so on, constructed the kinematic model for this robot, and laid foundations for the research of the key technologies and theory.Secondly, based on the relevant studies, the paper made a comprehensive comparison between VR technology and AR technology, divided the typical AR system to monitor-based, optical see-through, and video see-through AR system, analyzed the structure and main characteristics for each system, and laid the theoretical foundations for the development of system.Thirdly, the paper analyzed the concept and the main form of human-machine interaction, proposed a framework for the AR teleoperation system, presented the working mechanism of each module and implementation process and improved the reliability of teleoperation. In order to improve the friendly human-computer interaction problem, the paper raised a pattern of human-machine interaction design approach, involved the design of remote monitoring platform, the teleoperation design for mobile platform based on hand control box, the teleoperation design for mobile platform based on 3D mouse, the visual immersion design based on a head mount display device, and so on, and proposed the realization approach for each part.At last, this paper adopt AR technology combined with teleoperation to eliminate the accumulated errors caused by motion, and carried out the experiment based on the tracked robot, used this system to terrain recognition and traversability analysis. The experiment results showed the better dependability and reliability for the proposed system.