Tele-Operated Mobile Robot for 3D Visual Inspection Utilizing Distributed Operating System Platform

Achmad, M.S. Hendriyawan and Prihandoko, Gigih and Rosli, Rosmazi and Daud, Mohd Razali Tele-Operated Mobile Robot for 3D Visual Inspection Utilizing Distributed Operating System Platform. International Journal of Vehicle Structures & Systems, 9 (3). pp. 190-194. ISSN 0975-3060

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Abstract

This research examines how humans work with teleoperated unmanned mobile robots to perform interaction to do the inspection in industrial plant area resulting 3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual odometry and mapping function simultaneously to construct 3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system utilizing RGBD SLAM for 3D inspection task under ROS environment are successful in extending human perspective in term of remote surveillance in the large area of the industrial plant. The result concludes that the proposed work is a robust solution for comprehensive mapping within an unknown construction building.

Item Type: Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Fakultas Sains Dan Teknologi > S1 Teknik Elektro
Depositing User: Kaprodi Teknik Elektro
Date Deposited: 22 May 2019 07:53
Last Modified: 22 May 2019 07:53
URI: http://eprints.uty.ac.id/id/eprint/2853

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