The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs
The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVs
复制标题
DOI：
10.1007/s12369-021-00783-9
复制
发表时间：
2021-04
影响因子：
4.7
通讯作者：
Sierra N. Young;Ryan J. Lanciloti;J. Peschel
中科院分区：
文献类型：
--
作者：
Sierra N. Young;Ryan J. Lanciloti;J. Peschel
本文提出了一个专用的Mission Specialist接口的人机交互（HRI）的研究，用于执行远程操作任务，使用小型无人机（UAV）。目前的文献表明，在现实世界的环境中，成功完成空中操纵任务需要人工输入，由于自主感知和控制的挑战。远程环境中的远程操作界面的视觉信息可以显着影响性能的直接控制下，然而，界面可视化对任务性能的影响还没有研究无人机远程操作。本研究评估了界面视角对空中操作作业绩效的影响。在这项研究中评估的接口包括来自位于无人机上的摄像机的视频流，包括：（i）操纵器自我中心视图，（ii）操纵器偏心视图，以及（iii）自我中心和偏心视图的组合。共有36名参与者完成了三个不同的操作任务，使用所有三个接口条件。观察和结果表明，无论是离心和混合视图配置有助于提高任务性能的自我中心的界面。此外，这项研究导致的数据视图使用，视图的有效性，和任务类型，可用于进一步开发接口的空中机械手的变化和适应环境和任务。
This paper presents a human-robot interaction (HRI) study of a dedicatedMission Specialistinterface for performing telemanipulation tasks using a small unoccupied aerial vehicle (UAV). Current literature suggests that the successful completion of aerial manipulation tasks in real-world environments requires human input due to challenges in autonomous perception and control. Visual information of the remote environment in a telemanipulation interface can significantly affect performance under direct control; however, the effects of interface visualizations on task performance have not been studied for UAV telemanipulation. This work evaluated the effects of interface viewpoint on aerial manipulation task performance. The interfaces evaluated in this study included video streams from cameras located onboard the UAV, including: (i) a manipulator egocentric view, (ii) a manipulator exocentric view, and (iii) a combination of egocentric and exocentric views. A total of 36 participants completed three different manipulation tasks using all three interface conditions. The observations and results showed that both the exocentric and mixed view configurations contributed to improved task performance over an egocentric-only interface. Further, this study resulted in data regarding view use, view effectiveness, and task type that can be used for further developing interfacing for aerial manipulators that change and adapt to the environment and task.