Publication: 3d networked virtual representation
Date
2009-04-01
Authors
Tan, Hong Ping
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Abstract
Three dimensional (3D) virtualization has been a popular method to observe and present data and simulation results. Although many robotic applications have applied 3D virtualization technology for simulation, there is not much applications which incorporate 3D technology into computer networking to develop a networked virtual environment (net-VE) with teleoperation ability. This project aimed to realise such system, where multiple users able to control and view the virtual mobile robots, in addition, able to teleoperate a real mobile robot through the virtual environment. This project presented the system, 3DVR©, which has all the features of a net-VE system with teleoperation function. 3DVR© is being developed using Python scripting language, and Panda3D® engine for 3D virtualization. The implementation of 3DVR© shows 3D virtualization of 3D models and environment in a graphical user interface (GUI) with functions in aiding the users to view and navigate around the virtual environment. There are four operation modes in 3DVR©; which are local virtual robot simulation, local real robot teleoperation, mobile robot teleoperation through local area network (LAN), and mobile robot teleoperation through internet. The four operation modes are successfully demonstrated with virtual mobile robot models and the results obtained are promising.