Distributed Teleoperation System for Controlling Heterogeneous Robots Based on ROS

In this paper, we propose a distributed teleoperation system for controlling heterogeneous robots, which improve the problem of the communication of different kinds of robots based on the robot operating system (ROS). The system includes modules for massive data management and multi-level communication, which improves the reuse rate of software code and the flexibility of the robot hardware system by adjusting the overall architecture of the system and decoupling of software and hardware. In our experiments, the distributed control system of the heterogeneous robot was used on the distributed communication and control of the wheeled mobile robot and the humanoid robot, and the remote operation of the heterogeneous robot in the wireless network was successfully realized through the keyboard.

[1]  Qiang Huang,et al.  An overview of biomimetic robots with animal behaviors , 2019, Neurocomputing.

[2]  Yoshihiko Nakamura,et al.  Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing , 2017, Int. J. Humanoid Robotics.

[3]  Liu Ji-wei.  Developments in heterogeneous multi-robot cooperation systems , 2009 .

[4]  Dan M. Novischi,et al.  Toward a real-time heterogeneous mobile robotic swarm: Robot platform and agent architecture , 2013, 2013 17th International Conference on System Theory, Control and Computing (ICSTCC).

[5]  Lei Zhang,et al.  Target recognition of indoor trolley for humanoid robot based on piecewise fitting method , 2019 .

[6]  Daniel J. Pease,et al.  A real-time heterogeneous distributed computing environment for multi-robot system , 2000, Proceedings Third IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC 2000) (Cat. No. PR00607).

[7]  Zheng Rui.  Performance Analysis of Multi-Robot Communication System Based on Wireless Local Area Networks , 2009 .

[8]  Roseli A. F. Romero,et al.  Development of Distributed Control Architecture for Multi-robot Systems , 2014, 2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol.

[9]  Fei Yuan,et al.  Target Location and Gait Planning for Humanoid Robot Climbing Stairs , 2019, 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM).