Multi robots interactive control using mixed reality
Mikhail Ostanin, Rauf Yagfarov, Dmitry Devitt, Aydar Akhmetzyanov, Alexandr Klimchik
Abstract
The paper presents a framework for interactive control of multi robots using mixed reality interfaces. The proposed approach can operate with both single and multi-robot systems, including interaction with industrial manipulators, mobile robots, and unmanned aerial vehicles (UAV). The human–robot interface allows both interactive and physical interaction with the robot. Particular attention is paid to a visualisation of the robots' intent during control. The presented framework has Robotic Operation System (ROS) as a core that can be connected to any robot and mixed reality interface. This allows us to make framework scalable and connect several different mixed reality devices and multiple heterogeneous robots. In the implementation part we connected our framework with Microsoft HoloLens, collaborative robot KUKA IIWA, mobile platform Plato, UAV designed on the basis of dji f450. The proposed framework was tested experimentally with real experimental setups mentioned above. The results showed the capabilities of the mixed reality system for interactive control of different robots' type.