Experimental Evaluation of a Tele-Operated Robot System in Traversing a Narrow Path

Tele-operated robot systems are expected to greatly assist humans in dangerous environments, such as natural disaster sites. Thus, we have developed a mobile robot system that is tele-operated via the Internet from any location and is capable of traversing narrow paths. Herein, we developed a control algorithm for traversing a narrow path and experimentally verified the ability of the robot iws09 which was 370 mm in diameter, to automatically pass through a narrow path having a clearance of 40 mm on both sides without collisions. Furthermore, the wheel-driving characteristics of the robot were verified. The function of traversing a narrow path will be helpful to support an operator remotely controlling the robot. Next, we will develop a mobile robot control system to cope with other situations.