Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation
Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation
复制标题
高速车辆远程操作操作员辅助装置的实验验证
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Randy Warner
中科院分区：
文献类型：
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作者：
A. Kelly;Nicholas Chan;H. Herman;Randy Warner
尽管完全自主的机器人在能力上不断进步，但人与机器之间的协作界面上的所有点仍然占有一席之地。我们为小型（1 立方米体积）高速机器人开发了一套操作员辅助技术，旨在提高控制的速度和保真度。这些辅助工具包括在机器人上运行的快速稳定性控制循环以及图形用户界面增强功能，可帮助操作员应对周边视力丧失、视频不稳定和延迟等问题。在实施驾驶辅助设备后，我们进行了一项实验，从提高驾驶性能的能力的角度评估每种辅助设备的相对价值。在一周的时间内，我们对 10 名驾驶员进行了四种驾驶配置的测试，并重复进行了 3 次困难的测试课程。结果表明，所有技能水平的操作员都可以从这些辅助工具中受益，并且稳定的视频和预测显示是我们添加的最有价值的功能之一。
Although fully autonomous robots continue to advance in ability, all points on the spectrum of cooperative interfaces between man and machine continue to have their place. We have developed a suite of operator assist technologies for a small (1 cubic meter volume) high speed robot that is intended to improve both speed and fidelity of control. These aids include fast stability control loops that run on the robot and graphical user interface enhancements that help the operator cope with lost peripheral vision, unstable video, and latency. After implementing the driving aids, we conducted an experiment where we evaluated the relative value of each from the perspective of their capacity to improve driving performance. Over a one week period, we tested 10 drivers in each of four driving configurations for three repetitions of a difficult test course. The results demonstrate that operators of all skill levels can benefit from the aids and that stabilized video and predictive displays are among the most valuable of the features we added.