Currently, the application of mobile ground robots spans a range of fields from surveillance, search and rescue, exploration, agriculture, military among others. In unstructured and dangerous environments such as disaster scene, military fields or chemical spray in agricultural farms, the experience and intelligence of the operator are necessary for making complex decisions beyond the autonomy of the robot. In such cases, teleoperation allow the operator to guide the robot in achieving complex task from a safe location. The effectiveness with which the operator controls the robot depends on, among others, operator’s awareness of the robot’s environment, the quality of communication link, the robustness of robot’s control system and experience of the human operator. Ground mobile robots form the basis of this work since they are applicable in many fields and mostly operate in dynamic environments that require additional guidance from a human operator. This study reviews research work on mobile robot teleoperation systems, and puts more emphasis on the architecture, communication link and situation awareness creation. Moreover, future trend in mobile robot teleoperation is also put forward in this review to give ground for new research work in this field. Based on the sited literature, it is noted that making the operator feel present in the robot’s environment through sufficient visual and force feedback as well as use of good quality network, significantly improve the navigation efficiency and task achievement of mobile ground robots.

中文翻译：

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移动地面机器人遥操作综述：架构与态势感知

目前，移动地面机器人的应用涉及监视、搜救、勘探、农业、军事等多个领域。在灾难现场、军事领域或农业农场化学喷洒等非结构化和危险环境中，操作员的经验和智慧对于做出超出机器人自主性的复杂决策是必要的。在这种情况下，远程操作允许操作员引导机器人从安全位置完成复杂的任务。操作员控制机器人的有效性取决于操作员对机器人环境的认识、通信链路的质量、机器人控制系统的鲁棒性以及操作员的经验。地面移动机器人构成了这项工作的基础，因为它们适用于许多领域，并且主要在需要人工操作员额外指导的动态环境中运行。本研究回顾了移动机器人遥操作系统的研究工作，重点关注架构、通信链路和态势感知创建。此外，本文还提出了移动机器人遥操作的未来趋势，为该领域的新研究工作奠定基础。根据现场文献指出，通过充分的视觉和力反馈以及使用优质网络，使操作者感觉在机器人的环境中，显着提高了移动地面机器人的导航效率和任务完成度。