Virtual environment based on Internet and Java3D for multi-robot teleoperation
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摘要: 网络传输时延的不确定性和机器人之间的有效协调是多机器人遥操作系统研究的关键问题.采用Java和Java3D技术构建了基于Internet的虚拟操作环境,改变了传统上基于视频信息作为反馈的操作模式,克服了网络传输时延对系统操作性能的影响.提出了基于虚拟向导的概念并加以实现,处于异端的操作者能够准确地预测其它操作者的操作意图并实现有效的协调动作.通过两个典型操作实例的分析,验证了系统的合理性与可行性.Abstract: For an internet-based multi-robot teleoperation system, two critical issues of random time-delay and multi-robot coordination were studied. For the first issue, a virtual environment, which is constructed on the basis of Java and Java3D technologies, was employed to resolve time-delay problem by only transmitting status information of remote environment, so the huge transmission of traditional video information was avoided. For the second issue, virtual-guide models were proposed and implemented, by which an operator can predicate the actions of other operators locating in other places, thus a good and valid coordination of multiple operators can be guaranteed and achieved. Two typical experiments were given to verify the reasonability and feasibility of the multi-robot teleoperation system.
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Key words:
- coordination /
- teleoperation /
- Internet /
- virtual environment /
- guide
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