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A Behaviour-Based Integration of Fully Autonomous, Semi-Autonomous, and Tele-Operated Control Modes for an Off-Road Robot
Telematic Applications, Volume # | Part#
Location: Politehnica University, Romania
National Organizing Committee Chair: Dragomir, Toma Leonida,
Dumitrescu , Dorin
International Program Committee Chair: Schilling, Klaus,
Dumitrache, Ioan,
Nenninger, Philipp
Conference Editor: Dumitrache, Ioan,
DRAGOMIR, Toma Leonida,
Schilling, Klaus
Authors
Armbrust, Christopher; Proetzsch, Martin Johannes; Schäfer, Bernd-Helge; Berns, Karsten
Digital Object Identifier (DOI)
10.3182/20101005-4-RO-2018.00058
Page Numbers:
191-196
Index Terms
Robotics; Teleoperation; Robot control; Autonomous mobile robots
Abstract
This paper describes a concept for a behaviour-based integration of tele-operator commands into the control system of a mobile robot. The control system presented features different control modes which allow for pure tele-operation, assisted tele-operation, and fully autonomous navigation. It is explained how the tele-operator can influence the robot's motion at any time and how he can simply and continuously change the degree of his influence.
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