An Interactive User Interface to the Mobility Object Manager for Rwi Robots

This paper presents an extension to the Mobility Object Manager (MOM) for the RWI robots, which is currently being developed at the University of Essex. It presents a new user friendly interface extension to MOM for monitoring and interacting with the robot during the development of control algorithms. A new viewer has been incorporated to enable concurrent state reflection of both sensor and actuator data in a single window, with a module that implements interactive trajectory path planning. A motion error model has also been developed to mirror the approximate motion characteristics of the real robot in .simulation. Experiment results are presented to demonstrate the effectiveness of the approach.