Teleoperation of a Fast Omnidirectional Unmanned Ground Vehicle in the Cyber-Physical World via a VR Interface

Abstract

This paper addresses the relations between the artifacts, tools, and technologies that we make to fulfill user-centered teleoperations in the cyber-physical environment. We explored the use of a virtual reality (VR) interface based on customized concepts of Worlds-in-Miniature (WiM) to teleoperate unmanned ground vehicles (UGVs). Our designed system supports teleoperators in their interaction with and control of a miniature UGV directly on the miniature map. Both moving and rotating can be done via body motions. Our results showed that the miniature maps and UGV represent a promising framework for VR interfaces.