Several key issues about the teleoperation system for semi-autonomous reconnaissance robot have been addressed. A human-robot collaborative semi-autonomous mobile robot architecture (SAMRA) which combine the complementary capabilities of both robot's local autonomy and human intelligence is proposed firstly. Then, a novel autonomous mission executive mechanism based on macro behavior and a hybrid behavior coordination mechanism is brought out. Meanwhile, several types of intelligent behavior are defined briefly. The implement method of teleoperation system software based on multi-agent system is introduced in succession. Finally, a visualized human-robot interface with live video/audio, 3D drawing simulation, and graphic mission planner is presented. Experimental results demonstrate the autonomous mission executor is able to interpret and execute the planned mission specification successfully, and the human-robot collaborative teleoperation system for semi-autonomous reconnaissance robot has excellent property of telepresence, flexibility and robustness.
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