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3D MAPPING FOR MOBILE ROBOTS USING INTERACTIVE VIRTUAL WORLDS AND INTERNET TELEOPERATION
J. M. Ibarra Zannatha*, U. Zaldívar Colado*, E. J. Iturbe Córdoba*,
J. López Trujillo*, L. Montano Gella**, J. Mínguez**
* Robotics and Artificial Vision Laboratory
Departamento de Control Automático, Cinvestav
Av. IPN N° 2508, San Pedro Zacatenco, Mexico D.F., MEXICO
jibarra@ctrl.cinvestav.mx
** Robotics and Real-Time Group
DIIS, Centro Politécnico Superior de Ingenieros, Universidad de Zaragoza
Maria de Luna, 1, 50015 Zaragoza, SPAIN
In this paper we intend to reconstruct an interactive virtual version of the 3D real environment of a mobile robot and to ensure a bi-directional interaction with all the components of this workplace. This IVW (interactive virtual world), automatically built using VRML combined with Java, is actualized on line with 3D models of the objects presents in the real workplace. Internet interaction between any remote operator and the IVW is ensured by a Java based virtual interface and may be used, also, to teleoperate the robot. The presented approach is applied to a PIONEER 2 and a LABMATE mobile robots
Keywords: Mobile Robots, Virtual Reality, Man/Machine Interfaces, Internet Robotics.
Session slot T-Th-A21: Posters of Robotics and Robust Control/Area code 1d : Robotics
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