A LRF-based Teleoperated Navigation Method
technique and all information including the map and the pose of the robot is sent to the base station. Unlike a remote reconnaissance and control method using cameras, the proposed method uses a laser range finder (LRF), which enables the robot to be navigated in terms of map. Additionally, we propose computer aided guidance using frontier-based approach and autonomous return to home position to deal with communication loss which frequently occurs in real world. In this paper the performance and the usefulness of our method is demonstrated using a ground robot in artificial disaster areas with an implementation of a graphical user interface (GUI).
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