Human-Robot Collaborated Exploration and Wayfinding: Orientation Awareness and itS Enhancement
Human-Robot Collaborated Exploration and Wayfinding: Orientation Awareness and itS Enhancement
复制标题
人机协作探索与寻路：方向意识及其增强
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
T. Schnieders
中科院分区：
文献类型：
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作者：
R. Stone;P. Zhong;T. Schnieders
方位感知，即知道前进方向、当前位置以及物体相对于当前位置的位置，对于寻路来说都是至关重要的。获得和保持方位感知是一项具有挑战性的任务，并且在寻路器不能物理地处于环境中的远程寻路中甚至更困难。本研究设计了一个界面，以提高在远程寻路条件下的方向意识，通过提供一个路线图显示以前的路径由操作员，并评估其有效性。在这项研究中，16名参与者接受了测试，每组8人。实验组进行界面增强，对照组不进行界面增强。参与者需要远程导航机器人探索未知环境，学习布局以及搜索存在和危险物体。然后，他们被要求画出该地区的布局，并在他们制作的地图上标出存在和危险的物体。结果发现，与那些没有收到外部信息的人相比，有了以前的路线图，参与者对布局有了更好的理解，这反映在他们制作的地图的质量上。研究还发现，即使有更多的信息来感知和处理的增强界面的用户，效率和子任务的性能保持相同的那些谁有较少的信息来感知或处理。本研究的结果证明了所提出的增强的有效性。
Orientation awareness, being aware of heading direction, current location, and an object’s location relative to current location are all critical for wayfinding. Obtaining and maintaining the orientation awareness is a challenging task and even more difficult in remote wayfinding where the wayfinder cannot physically be in the environment. This study designed an interface to enhance the orientation awareness under a remote wayfinding condition by providing a route map showing the previous path taken by the operator and evaluated its effectiveness. Sixteen participants were tested in this study with eight people in each group. The experimental group received the interface enhancement while the control group did not. Participants were required to remotely navigate a robot to explore an unknown environment, learning the layout as well as searching for exists and dangerous objects. They were then asked to draw the layout of the area and mark out exists and dangerous objects on the map they made. It was found that with the previous route map available, participants resulted in better understanding of the layout as reflected by the quality of the maps they made, compared to those that received no external information. It was also found that even with more information to perceive and process for the users of the enhanced interface, efficiency and subtask performance stayed the same as those who had less information to perceive or process. Results of this study proved the effectiveness of the proposed enhancement.