Development of Visual Remote Operation System for Low-Gravity Planet Rover

Sota Shimizu, Ryoya Takewaki, Rei Murakami, Naoaki Kameyama, Naoki Motoi, Tatsuya Yamazaki, Nobuyuki Hasebe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, the authors propose a visual remote operation system of the vehicle type of mobile robot for lunar exploration, i.e., the low-gravity planet rover. This rover has a unique mechanical part to shift its center of gravity, namely COG shift box, for its high-speed and stable driving. High-resolution Wide Angle Fovea (WAF) sensor, equipped on the rover, characterizes our proposed visual remote operation system as follows: (1) High-Resolution WAF sensor provides the operator with enough wide-angle field of view (FOV) to achieve safe navigation of the rover. (2) The view direction control of High-Resolution WAF sensor, by the eye-tracking device embedded on HMD, enables the operator to observe targets, to which he/she should pay attention, more in detail in order to make his/her better decision of navigating the rover. In addition, by displaying images remapped from the input image of High-Resolution WAF sensor, we expect to solve the bottleneck problem of data transmission. (3) The input image from High-Resolution WAF sensor is also applied for autonomous navigation of the rover.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages461-466
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 2019 Mar 182019 Mar 20

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period19/3/1819/3/20

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Keywords

  • center of gravity shift box
  • eye-tracking device
  • high-resolution wide angle fovea vision sensor
  • low gravity planet rover
  • parallel wheel system
  • visual remote operation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

Cite this

Shimizu, S., Takewaki, R., Murakami, R., Kameyama, N., Motoi, N., Yamazaki, T., & Hasebe, N. (2019). Development of Visual Remote Operation System for Low-Gravity Planet Rover. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 461-466). [8722907] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722907