Development of a Real-Time Simulator for a Semi-Autonomous Tele-Robot in an Unknown Narrow Path

Abstract

This study proposes a teleoperation system for assistive controlling of the movement of a mobile robot in a narrow path. The teleoperation system is created by combining data from real and virtual devices. In CoppeliaSim we applied the Braitenberg algorithm and the open motion planning library module (OMPL). The Braitenberg algorithm is a sensor-based automatic motion designed to aid the robot operator in maneuvering through the narrow path. While the OMPL is used to create a path for the operator to control the robot in narrow paths or intersections within a narrow path, the simulation uses a virtual proximity sensor to fulfill the Braitenberg algorithm requirement. With dynamic simulation a laser rangefinder obtains the environmental data and displays it on the simulation screen. The simulation scene is subjected to the virtual proximity sensor and the Braitenberg algorithm is applied to the simulation scene. Afterward, simulation scripts are written to incorporate the linear and angular velocities into a robot operating system for real-time robot control. The results showed that the system was capable of combining real-time dynamic simulation with the real world. Furthermore, the proposed system could aid the operator in narrow path environments while avoiding collision.