Internet-Based Personal Robot System using Map-Based Localization

This paper is about the implementation of an internetbased personal robot system using map-based localization. The idea is to control a personal robot at a remote site by using a simulator provided at a local site. However, if the information of the current absolute position of the robot at its remote site cannot be estimated, the simulator may be useless. The absolute position of the robot can be determined by comparing a reference map of the local site with a map built by a map building technique using sensor information from a laser scanner at the remote site. A user can use three-level control modes direct control mode, supervisory control mode and job scheduling mode, and monitor the current status of the robot using a graphic user interface (GUI) of the simulator implemented with Java. Experiments with a scenario in a real environment demonstrate the usefulness and the applicability of the internet-based personal robot system.