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In this thesis, we design a VR user interface control system
with virtual reality technology for mobile robot teleoperation.
The architecture of our system is a client-server model. The VR
client interface is based on desktop VR. The operator interacts
with the virtual environment by inputting his commands with
keyboard, mouse, spaceball, sensing glove and getting visual
graphical feedback from the monitor by wearing a stereo-glasses.
(The virtual environment is constructed with a ratio
proportional to the real abbreviated artificial environment.)
The VR client interface sends the command of the userto the
server through the Internet, and the server gets the command to
control the abbreviated mobile robot system in the artificial
environment synchronously. After performing the operation, the
server will return back the information of the artificial system
for the VR client interface to refresh VR environment, and the
operator will command newly according to the new situation of
the virtual environment. In order to provide a more friendly
input interface, we use "Back Propagation Neural Network" to
deal with the learning and recognizing problems of the input
gestures commands of the operator. Finally, we perform
experiments to illustrate the advantage of the VR user interface
control system of mobile robot teleoperation constructed with VR
technology.
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