Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

Steven Vozar; Dawn M. Tilbury

doi:10.1117/12.918700

25 May 2012 Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

Steven Vozar, Dawn M. Tilbury

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838716 (2012) https://doi.org/10.1117/12.918700
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Unmanned ground vehicles (UGVs) are well-suited to a variety of tasks that are dangerous or repetitive for humans to perform. Despite recent advances, UGVs still suffer from reliability issues, and human operation failures have been identified as one root cause of UGV system failure. However, most literature relevant to UGV reliability does not address the effects of human errors or the user interface. Our previous work investigated the issue of user situational awareness and sense of presence in the robot workspace by implementing a Mixed Reality interface featuring a first-person video feed with an Augmented Reality overlay and a third-person Virtual Reality display. The interface was evaluated in a series of user tests in which users manually controlled a UGV with a manipulator arm using traditional input modalities including a computer mouse, keyboard and gamepad. In this study, we learned that users found it challenging to mentally map commands from the manual inputs to the robot arm behavior. Also, switching between control modalities seemed to add to the cognitive load during teleoperation tasks. A master-slave style manual controller can provide an intuitive one-to-one mapping from user input to robot pose, and has the potential to improve both operator situational awareness for teleoperation tasks and decrease mission completion time. This paper describes the design and implementation of a teleoperated UGV with a Mixed Reality visualization interface and a master-slave controller that is suitable for teleoperated mobile manipulation tasks.

Citation Download Citation

Steven Vozar and Dawn M. Tilbury "Improving UGV teleoperation performance using novel visualization techniques and manual interfaces", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838716 (25 May 2012); https://doi.org/10.1117/12.918700

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available