In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using commercially available off-the-shelf (COTS) joysticks or by command sequencing with interactive monitoring on the sensed map of the environment. During operations, high situational awareness is made possible thanks to 3D map visualization. The map of the environment is built on the on-board computer by processing the rover's camera images with a visual Simultaneous Localization and Mapping (SLAM) algorithm. It is transmitted via Wi-Fi and displayed on the control base station screen in near real-time. The navigation stack takes as input the visual SLAM data to build a cost map to find the minimum cost path. By interacting with the virtual map, the rover exhibits properties of a Cyber Physical System (CPS) for its self-awareness capabilities. The software architecture is based on the Robot Operative System (ROS) middleware. The system design and the preliminary field test results are shown in the paper.
翻译:在本文中,我们展示了一个方便用户的低悬浮地表遥测地球仪控制系统。 由于这个拟议系统,操作员可以舒适地将控制基地站的指令交给一个遥控站,使用商业上可用的现成(COTS)游戏杆,或使用环境感测图上的交互式监测进行命令排序。在操作过程中,由于3D地图的可视化,使得高度的情景感知成为可能。环境地图建在机上计算机上,用视觉同步本地化和绘图(SLAM)算法处理Rover的相机图像。它通过Wi-Fi传送,并在控制基地站屏幕上近实时显示。导航堆将视觉SLAM数据作为输入,以构建成本图,找到最低的成本路径。通过与虚拟地图互动,网络物理系统(CPS)的反向展示特性,以其自我认识能力。软件结构以机器人操作系统中间软件为基础。系统设计和初步实地测试结果在纸张中显示。