Web-Based Real-Time Alarm and Teleoperation System for Autonomous Navigation Failures Using ROS 1 and ROS 2 DOI Creative Commons
Nabih Pico,

Giovanny Mite,

Daniel S. Moran

и другие.

Actuators, Год журнала: 2025, Номер 14(4), С. 164 - 164

Опубликована: Март 26, 2025

This paper presents an alarm system and teleoperation control framework, comparing ROS 1 2 within a local network to mitigate the risk of robots failing reach their goals during autonomous navigation. Such failures can occur when robot moves through irregular terrain, becomes stuck on small steps, or approaches walls obstacles without maintaining safe distance. These issues may arise due combination technical, environmental, operational factors, including inaccurate sensor data, blind spots, localization errors, infeasible path planning, inability adapt unexpected obstacles. The integrates web-based graphical interface developed using frontend frameworks joystick for real-time monitoring robot’s localization, velocity, proximity is equipped with RGB-D tracking cameras, 2D LiDAR, odometry sensors, providing detailed environmental data. provides sensory feedback visual alerts web vibration walls, faces potential collisions objects, loses stability. evaluated in both simulation (Gazebo) real-world experiments, where latency measured performance assessed 2. results demonstrate that systems operate effectively real time, ensuring safety enabling timely operator intervention. offers lower LiDAR inputs, making it advantageous over 1. However, camera higher, suggesting need optimizations image data processing. Additionally, platform supports integration additional sensors applications based user requirements.

Язык: Английский

Web-Based Real-Time Alarm and Teleoperation System for Autonomous Navigation Failures Using ROS 1 and ROS 2 DOI Creative Commons
Nabih Pico,

Giovanny Mite,

Daniel S. Moran

и другие.

Actuators, Год журнала: 2025, Номер 14(4), С. 164 - 164

Опубликована: Март 26, 2025

This paper presents an alarm system and teleoperation control framework, comparing ROS 1 2 within a local network to mitigate the risk of robots failing reach their goals during autonomous navigation. Such failures can occur when robot moves through irregular terrain, becomes stuck on small steps, or approaches walls obstacles without maintaining safe distance. These issues may arise due combination technical, environmental, operational factors, including inaccurate sensor data, blind spots, localization errors, infeasible path planning, inability adapt unexpected obstacles. The integrates web-based graphical interface developed using frontend frameworks joystick for real-time monitoring robot’s localization, velocity, proximity is equipped with RGB-D tracking cameras, 2D LiDAR, odometry sensors, providing detailed environmental data. provides sensory feedback visual alerts web vibration walls, faces potential collisions objects, loses stability. evaluated in both simulation (Gazebo) real-world experiments, where latency measured performance assessed 2. results demonstrate that systems operate effectively real time, ensuring safety enabling timely operator intervention. offers lower LiDAR inputs, making it advantageous over 1. However, camera higher, suggesting need optimizations image data processing. Additionally, platform supports integration additional sensors applications based user requirements.

Язык: Английский

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