A new control mode for teleoperated differential drive UGVs

Ögren, Petter; Svenmarck, Peter

doi:10.1109/cdc.2007.4434082

Cited by 5 publications

(3 citation statements)

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“…Furthermore, we implement the approach in a real UGV, and experimentally verify the decoupling of camera translation and orientation. This paper extends the theoretical work presented in the conference paper [12].…”

Section: Introductionsupporting

confidence: 78%

Design and implementation of a new teleoperation control mode for differential drive UGVs

et al. 2013

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PostprintThis is the accepted version of a paper published in Autonomous Robots. This paper has been peerreviewed but does not include the final publisher proof-corrections or journal pagination.Citation for the original published paper (version of record):Ögren, P., Svenmarck, P., Lif, P., Norberg, M., Söderbäck, N. (2014) Design and implementation of a new teleoperation control mode for differential drive UGVs. Abstract In this paper, we propose and implement a new control mode for teleoperated Unmanned Ground Vehicles (UGVs), that exploits the similarities between computer games and teleoperation robotics.Today, all teleoperated differential drive UGVs use a control mode called Tank Control, in which the UGV chassis and the pan tilt camera are controlled separately. This control mode was also the dominating choice when the computer game genre First Person Shooter (FPS) first appeared. However, the hugely successful FPS genre, including titles such as Doom, Half Life and Call of Duty, now uses a much more intuitive control mode, Free Look Control (FLC), in which rotation and translation of the character are decoupled, and controlled separately.The main contribution of this paper is that we replace Tank Control with FLC in a real UGV. Using feedback linearization, the orientation of the UGV chassis is abstracted away, and the orientation and translation of the camera are decoupled, enabling the operator to use FLC when controlling the UGV. This decoupling is then experimentally verified.The developments in the gaming community indicates that FLC is more intuitive than Tank Control and reduces the well known situational awareness problem. It furthermore reduces the need for operator training, since literary millions of future operators have already spent hundreds of hours using the interface.

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Section: Introductionsupporting

confidence: 78%

Design and implementation of a new teleoperation control mode for differential drive UGVs

et al. 2013

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“…Some of these approaches include the use of joystick and button based gamepads [3], mouse and keyboard [13], steering wheels [21], gestures based controls [26], haptic controllers [27], and touch devices [13], [28], [30]. Nevertheless, the gamepad is still one of the most mainstream input modalities in UGV teleoperation [2], [7], [29] because it is portable, durable and ergonomically designed [30]. For that reason, the current research, when presenting novel input modalities, utilizes the gamepad as a baseline comparison [13], [28], [30].…”

Section: Related Workmentioning

confidence: 99%

“…• The literature reveals diverse approaches concerning UGV input modalities. One of the most mainstream input modalities in UGV teleoperation is the joystick and button based gamepad (without haptic feedback) [7], [2], [29].…”

Section: How Is Driving Performance and Traction Awareness Influencedmentioning

confidence: 99%

On the Use of Haptic Tablets for UGV Teleoperation in Unstructured Environments: System Design and Evaluation

Luz

Corujeira²,

Grisoni

et al. 2019

IEEE Access

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Teleoperation of unmanned ground vehicles (UGVs), particularly for inspection of unstructured and unfamiliar environments still raises important challenges from the point of view of the operator interface. One of these challenges is caused by the fact that all information available to the operator is presented to the operator through a computer interface, providing only a partial view of the robot situation. The majority of existing interfaces provides information using visual, and, less frequently, sound channels. The lack of situation awareness (SA), caused by this partial view, may lead to an incorrect and inefficient response to the current UGV state, usually confusing and frustrating the human operator. For instance, the UGV may become stuck in debris while the operator struggles to move the robot, not understanding the cause of the UGV lack of motion. We address this problem by studying the use of haptic feedback to improve operator SA. More precisely, improving SA with respect to the traction state of the UGV, using a haptic tablet for both commanding the robot and conveying traction state to the user by haptic feedback. We report 1) a teleoperating interface, integrating a haptic tablet with an existing UGV teleoperation interface and 2) the experimental results of a user study designed to evaluate the advantage of this interface in the teleoperation of a UGV, in a search and rescue scenario. Statistically significant results were found supporting the hypothesis that using the haptic tablet elicits a reduction in the time that the UGV spends in states without traction.

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Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance

Pouliot

Latulippe

Montambault

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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A new control mode for teleoperated differential drive UGVs

Cited by 5 publications

References 5 publications

Design and implementation of a new teleoperation control mode for differential drive UGVs

Design and implementation of a new teleoperation control mode for differential drive UGVs

On the Use of Haptic Tablets for UGV Teleoperation in Unstructured Environments: System Design and Evaluation

Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance

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