Use of augmented reality for remote control of mobile robots in the presence of time delays in data transmission channels

The paper is devoted to the teleoperation of ground mobile robots in extreme conditions. The presence of time delays in information transmission channels has a significant impact on the efficiency of control. The total delay values can range from hundreds of milliseconds to units of seconds. Sufficiently large values are the reasons for the loss of stability of control systems. To reduce the negative impact of delays, it is proposed to use a method of supporting the operator, which consists in superimposing information about the robot's position on the image received from the video camera and displayed on the control panel at the moment when it receives the generated commands. The position calculation uses the fact that telemetry and command transmission delays are generally much less than video transmission delays. The proposed method is simple, requires a minimum amount of computing resources and can be implemented as a part of low-cost robotic systems. The presented simulation results demonstrate the effectiveness of the method.