한국재료학회지 제28권 제11호 (p.220-229)

무인 지상 로봇의 실시간 원격 제어를 위한 3차원 시각화 시스템

3D Information based Visualization System for Real-Time Teleoperation of Unmanned Ground Vehicles
키워드 :
Teleoperation,3D Reconstruction,UGV,EOD Robot

목차

Abstract
1. 서 론
2. 관련 연구
  2.1 UGV 원격제어를 위한 환경인식 기술
  2.2 제안하는 방법
3. 원격제어를 위한 3차원 정보 융합
  3.1 정적 점군 데이터의 재구성
  3.2 동적 점군 데이터의 재구성
  3.3 무인 지상 로봇의 시각화
  3.4 3차원 정보의 융합
4. 실험 결과
  4.1 실험 환경
  4.2 시나리오 수행 - 탁송화물 검사장내 폭발물 신고접수 상황
  4.3 임무 수행 결과
5. 결 론
References

초록

In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.