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

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2022 IEEE/SICE International Symposium on System Integration, SII 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ950-956
ページ数7
ISBN(電子版)9781665445405
DOI
出版ステータスPublished - 2022
イベント2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway
継続期間: 2022 1月 92022 1月 12

出版物シリーズ

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

Conference

Conference2022 IEEE/SICE International Symposium on System Integration, SII 2022
国/地域Norway
CityVirtual, Narvik
Period22/1/922/1/12

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 生体医工学
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化

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