Design of the mending robot based on virtual reality and intelligent decision system

A semi-autonomous intelligent control system with layered structure for the telerobot is established and described in detail. It is applied in the virtual environment with real scene reappearance and teleoperation functions to plan and control locomotion and trajectory of the virtual robot instead of controlling the real robot directly. The virtual robot autonomously sends every planned motion instruction to the real robot via WLAN (Wireless LAN) in order that these two robots can move synchronously. Because modeling error of the virtual environment and slide phenomena of wheels exist inevitably, the real robot always can not arrived at the desired destination precisely. Here, operators should adjust position and pose of the real robot with remote video and landmarks abidance to eliminate these errors. The virtual environment is made in OpenGL and both the virtual robot animation and the environment simulation are running smoothly. Experiments prove that the intelligent decision platform is reliable and efflcient. With intervention of the operator, the mending task can accomplished successfully.