Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation

Kelly, Alonzo; Chan, Nicholas; Herman, Herman; Warner, Randy

doi:10.1007/978-3-319-00065-7_63

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…Some studies have suggested that human-machine cooperative control (versus manual control) of a UGV can improve task performance in high speed navigation [8]. Macharet and Florencio developed a method that uses artificial potential fields and vector field histograms for navigation with a human operator in the control loop [9].…”

Section: Introductionmentioning

confidence: 99%

Guidance Point Generation-Based Cooperative UGV Teleoperation in Unstructured Environment

Zhu

Xiong

Chen

et al. 2021

Sensors

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Teleoperation is widely used for unmanned ground vehicle (UGV) navigation in military and civilian fields. However, the human operator has to limit speed to ensure the handling stability because of the low resolution of video, limited field of view and time delay in the control loop. In this paper, we propose a novel guidance point generation method that is well suited for human–machine cooperative UGV teleoperation in unstructured environments without a predefined goal position. The key novelty of this method is that the guidance points used for navigation can be generated with only the local perception information of the UGV. Firstly, the locally occupied grid map (OGM) was generated utilizing a probabilistic grid state description method, and converted into binary image to constructed the convex hull of obstacle area. Secondly, we proposed an improved thinning algorithm to extract skeletons of navigable regions from binary images, and find out the target skeleton related to the position of the UGV utilizing the k-nearest neighbor (kNN) algorithm. The target skeleton was reconstructed at the midline position of the navigable region using the decreasing gradient algorithm in order to obtain the appropriate skeleton end points for use as candidate guidance points. For visually presenting the driving trend of the UGV and convenient touch screen operation, we transformed guidance point selection into trajectory selection by generating the predicted trajectory correlative to candidate guidance points based on the differential equation of motion. Experimental results show that the proposed method significantly increases the speed of teleoperated UGV.

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Section: Introductionmentioning

confidence: 99%

Guidance Point Generation-Based Cooperative UGV Teleoperation in Unstructured Environment

Zhu

Xiong

Chen

et al. 2021

Sensors

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show abstract

“…However, several studies [8], [9], [10], [11], [12], [13] have been conducted in general teleoperation scenarios. In these studies, operators perform a given remote-control task while the operator's cognitive load, workload, performance or situation awareness are assessed.…”

Section: State-of-the-artmentioning

confidence: 99%

User study on remotely controlled UAVs with focus on interfaces and data link quality

Riestock

Engelhardt

Zug

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The successes of teleoperation scenarios for mobile robots depends on a stable and reliable communication link. The environment information collected by the robot -represented by 2D or 3D images -has to be provided with a high resolution and a low delay to ensure a fast and precise system response. But in most realistic applications, the communication parameters fluctuate strongly over time. It is necessary to monitor the communication link continuously to react in case of reduced bandwidth and increased delay.But which environment information and correspondingly which bandwidth is necessary to control a robot safely? Due to a missing reliable rule set we investigated this question for a UAV scenario based on two different environment representations (camera images, gridmaps). We designed a simulator based study and evaluated the capability of the participants to control a robot in case of delayed or coarsely rasterized information. Although our study involved only non-experts, we found some interesting first results. While the performance of our participants correlates strongly with the delay, it is nearly uncorrelated with the image resolution, which suggests downsampling as a valid response for bandwidth decrease. We also found that participants generally struggle with using grid map for controlling the robot. However, this type of interfaces requires far less bandwidth than images. They also excel in situations with higher delays, which makes them the tool of choice when there are really bad channel conditions.

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The role of operator style on mission energy requirements for tele-operated unmanned ground vehicles

Sadrpour

Jin

Ulsoy

2014

2014 American Control Conference

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Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation

Cited by 4 publications

References 11 publications

Guidance Point Generation-Based Cooperative UGV Teleoperation in Unstructured Environment

Guidance Point Generation-Based Cooperative UGV Teleoperation in Unstructured Environment

User study on remotely controlled UAVs with focus on interfaces and data link quality

The role of operator style on mission energy requirements for tele-operated unmanned ground vehicles

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