Study on safe operation architecture in semi-autonomous remote control system for mobile robots using mobile communications

Ko Matsuhiro*, Hiroyuki Shinbo, Hiroyuki Ishii, Atsuo Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a safe operation architecture for a semi-autonomous remote control system for mobile robots using mobile communications. The currently used architectures are unable to cope with several issues: adapting to various types of mobile robots, maintaining a sufficient level of safety in an area of unstable communications, flexibly interpreting input from the controller side, and flexibly changing the control mode according to the robot's surrounding environment and the situation. To overcome these issues, we propose a safe operation architecture. Each functional unit is designed such that it is suitable for different types of mobile robots, and a range of control inputs from the controller side. Since the communication status between a base station and a mobile terminal is monitored by heartbeats, operation of the robot can be suspended safely when communication is lost. An initial system based on the proposed architecture has been developed using ROS (Robot Operating System). We conducted experiments with the system using delivery robots that served as the mobile robots. The experiments were performed in an outdoor field and used a 60 GHz mobile communication system.

Original languageEnglish
Title of host publication2022 IEEE/SICE International Symposium on System Integration, SII 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages950-956
Number of pages7
ISBN (Electronic)9781665445405
DOIs
Publication statusPublished - 2022
Event2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway
Duration: 2022 Jan 92022 Jan 12

Publication series

Name2022 IEEE/SICE International Symposium on System Integration, SII 2022

Conference

Conference2022 IEEE/SICE International Symposium on System Integration, SII 2022
Country/TerritoryNorway
CityVirtual, Narvik
Period22/1/922/1/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Study on safe operation architecture in semi-autonomous remote control system for mobile robots using mobile communications'. Together they form a unique fingerprint.

Cite this