TY - GEN
T1 - Study on safe operation architecture in semi-autonomous remote control system for mobile robots using mobile communications
AU - Matsuhiro, Ko
AU - Shinbo, Hiroyuki
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Funding Information:
ACKNOWLEDGMENTS This research is supported by the Ministry of Internal Affairs and Communications in Japan (JPJ000254). The authors are grateful to our colleagues for helping with the experiment, especially Mr. Kurita and Mr. Murakami.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
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U2 - 10.1109/SII52469.2022.9708784
DO - 10.1109/SII52469.2022.9708784
M3 - Conference contribution
AN - SCOPUS:85126225896
T3 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
SP - 950
EP - 956
BT - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
Y2 - 9 January 2022 through 12 January 2022
ER -