A Behaviour-based Integration of Fully Autonomous, Semi-autonomous, and Tele-operated Control Modes for an Off-road Robot

This paper describes a concept for a behaviour-based integration of tele-operator commands into the control system of a mobile robot. The control system presented features different control modes which allow for pure teleoperation, assisted teleoperation, and fully autonomous navigation. It is explained how the tele-operator can influence the robot's motion at any time and how he can simply and continuously change the degree of his influence.