ON APPLYING VIRTUAL REALITY TO UNDERWATER ROBOT TELE-OPERATION AND PILOT TRAINING
Résumé
Virtual reality systems are being increasingly used for enhancing human perception of complex
real-world or synthetic events. Serious applications outside entertainment range from education training
to science and engineering. In this paper, we present our research work concerning the use of virtual
reality in underwater robot tele-operation and training. We have proposed a novel concept of ROV safety
domain to overcome the robot sensor error issue involved in virtual environment based underwater teleoperation
approach. The detailed mathematical model of the ROV safety domain and its proof will be
presented. In addition, we will examine how ROV safety domain can be used in underwater robot teleoperation,
and present the architecture of our prototype virtual tele-operation system. Its current status
and evaluation, as well as issues involved in its practical application will also be discussed.