Gravity-Referenced Attitude Display for Teleoperation of Mobile Robots
Gravity-Referenced Attitude Display for Teleoperation of Mobile Robots
复制标题
移动机器人远程操作的重力参考姿态显示
DOI：
10.1177/154193120404802312
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Stephen B. Hughes
中科院分区：
文献类型：
--
作者：
Jijun Wang;M. Lewis;Stephen B. Hughes
姿态控制是指控制移动的机器人的俯仰和横滚。随着环境变得越来越复杂，机器人姿势的线索越来越稀疏，使用以自我为中心（摄像头）显示器的远程操作员很容易失去态势感知。报告的困难与遥控机器人经常涉及翻车，有时甚至没有意识到，机器人已经翻车。传统上，姿态信息使用人工地平线图形或用于俯仰和滚转的单独指示器与相机视图分开显示。来自单独的姿态显示器的信息可能难以与正在进行的导航任务整合，并导致错误。在本文中，我们报告了一个实验中，一个模拟的机器人是在粗糙的外部和内部地形比较重力参考视图与分离的姿态指示。结果表明，更短的任务时间和更好的路径选择的用户的重力参考视图。
Attitude control refers to controlling the pitch and roll of a mobile robot. As environments grow more complex and cues to a robot's pose sparser it becomes easy for a teleoperator using an egocentric (camera) display to lose situational awareness. Reported difficulties with teleoperated robots frequently involve rollovers and sometimes even failure to realize that a robot has rolled over. Attitude information has conventionally been displayed separate from the camera view using an artificial horizon graphic or individual indicators for pitch and roll. Information from separate attitude displays may be difficult to integrate with an ongoing navigation task and lead to errors. In this paper we report an experiment in which a simulated robot is maneuvered over rough exterior and interior terrains to compare a gravity-referenced view with a separated attitude indication. Results show shorter task times and better path choices for users of the gravity-referenced view.