The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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3D Information based Visualization System for Real-Time Teleoperation of Unmanned Ground Vehicles

무인 지상 로봇의 실시간 원격 제어를 위한 3차원 시각화 시스템

  • Received : 2018.08.30
  • Accepted : 2018.11.12
  • Published : 2018.11.30
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Abstract

In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.

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