3D MAPPING FOR MOBILE ROBOTS USING INTERACTIVE VIRTUAL WORLDS AND INTERNET TELEOPERATION

In this paper we intend to recreate an interactive 3D virtual version of the real environment of a mobile robot and to ensure a bi-directional interaction with all the components of this workplace. This IVW (interactive virtual world), automatically built using VRML combined with Java, is actualized on line with 3D models of the objects present in the real workplace. Internet interaction between any remote operator and the IVW is ensured by a Java based virtual interface and may be used, as well to teleoperate the robot. The presented approach is applied to PIONEER 2 and LABMATE mobile robots. Copyright © 2002 IFAC