Systematic Tele-operation with Augmented Reality Path Planned Navigation Cues in Cluttered Environments

Abstract

A novel method of providing human operators with Augmented Reality (AR) cues for collision-free navigation of robot arms in cluttered environments is described. The cues are graphic objects that aid the operator to rotate and translate the end-effector of the robot along AR collision-free paths pre-computed by a probabilistic path planner. Manual control of robot arms is a common mode of tele-manipulation on the International Space Station (ISS). Limited depth perception of the remote robot's 3D worksite can result in collisions with severe consequences. This paper combines the qualities of a planning algorithm to search for ideal paths, and the benefits of augmented reality for enhanced visualization. Presenting spatial path information to the user in an intuitive manner results in collisionfree robot navigation along with performance repeatability. We present findings from the implementation of such a system with human operators and show that the system is beneficial.