A new UGV teleoperation interface for improved awareness of network connectivity and physical surroundings
A new UGV teleoperation interface for improved awareness of network connectivity and physical surroundings
复制标题
新的 UGV 远程操作界面可提高对网络连接和物理环境的认识
DOI：
10.5898/jhri.6.3.parasuraman
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Mark Antonius Neerincx
中科院分区：
文献类型：
--
作者：
Ramviyas Parasuraman;S. Caccamo;Fredrik Båberg;Petter Ögren;Mark Antonius Neerincx
在许多城市搜索和救援（USAR）任务中，操作员和远程操作无人地面车辆（UGV）之间的可靠无线连接至关重要。不幸的是，正如在例如福岛核灾难中所看到的那样，在USAR执行任务的地区，可用的网络往往在范围和覆盖范围上受到严重限制。因此，在任务执行过程中，操作员不仅需要跟踪任务的物理部分，例如导航穿过一个区域或搜索受害者，还需要跟踪整个环境中网络连接的变化。本文提出并评估了一种新的远程操作用户界面（UI），该界面包括无线电信号强度（RSS）的到达方向（DoA）估计方法和在界面中集成DoA信息的方法。评估表明，与标准接口相比，使用该接口可以发现更多对象，并且由于连接问题而导致的任务中断较少。建议的接口是对现有接口的扩展，该接口以UGV捕获的视频流为中心。但是，与仅仅以百分比和一组条形图显示网络信号强度不同，DoA的附加信息以围绕视频馈送的彩色条形图的形式添加。有了这些信息，即使在接近连接阈值的区域移动，操作员也知道哪些移动方向是安全的。
A reliable wireless connection between the operator and the teleoperated unmanned ground vehicle (UGV) is critical in many urban search and rescue (USAR) missions. Unfortunately, as was seen in, for example, the Fukushima nuclear disaster, the networks available in areas where USAR missions take place are often severely limited in range and coverage. Therefore, during mission execution, the operator needs to keep track of not only the physical parts of the mission, such as navigating through an area or searching for victims, but also the variations in network connectivity across the environment. In this paper, we propose and evaluate a new teleoperation user interface (UI) that includes a way of estimating the direction of arrival (DoA) of the radio signal strength (RSS) and integrating the DoA information in the interface. The evaluation shows that using the interface results in more objects found, and less aborted missions due to connectivity problems, as compared to a standard interface. The proposed interface is an extension to an existing interface centered on the video stream captured by the UGV. But instead of just showing the network signal strength in terms of percent and a set of bars, the additional information of DoA is added in terms of a color bar surrounding the video feed. With this information, the operator knows what movement directions are safe, even when moving in regions close to the connectivity threshold.