衝突回避を保証する可変スケーリングレート制御による無人航空機の遠隔操作
Variable-Scaling Rate Control for Collision-Free Teleoperation of an Unmanned Aerial Vehicle
操作者の入力や衝突リスクに応じてスケール係数を自動調整する4つの可変スケーリングレート制御法を提案し、衝突リスク依存の手法で衝突回避を保証しつつ作業効率を落とさないことをユーザー研究で示した。
著者: Dawei Zhang, Rebecca P. Khurshid
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We propose that automatically adjusting the scale factor in rate-control teleoperation could enable a human operator to better control the motion of a remote robot. In this paper, we present four new variable-scaling rate-control methods that adjust the scale factor depending on the state of the user's input commands and/or the risk of a collision between the robot and its environment. Methods that depend on the risk of a collision are designed to guarantee collision avoidance by setting the scale factor to be zero if the operator issues a command that would result in a collision between the robot and its environment. A within-subject user study was conducted to determine the effects of the four newly designed rate-control methods and a traditional fixed-scale rate-control method on a person's ability to complete a navigation task in a simulated two-dimensional environment. The results of this study indicate that well-designed variable-scale rate control can guarantee collision-free teleoperation without reducing task efficiency.
