Framework para teleoperação de robôs móveis

Abstract

Despite the notable advancements in autonomous robots, certain activities still require human supervision due to various barriers encountered in complex interactions with everchanging environments and unpredictable situations. Consequently, the development of telerobotic systems has gained prominence in various fields of application. In this context, this work proposes the development of a teleoperation system for a mobile robot, capable of being applied in different architectures for controlling teleoperated robots. This system implements shared control and supervisory control modes, using the ROS (Robot Operating System) framework and its communication and visualization tools between the operator and the robot. The developed system integrates with the ROS framework and leverages its functionalities for teleoperating the mobile robot. The shared control mode allows the operator to provide real-time control commands, while the supervisory mode enables the robot to perform tasks with a certain level of autonomy, utilizing environmental and sensory data.