PointCom: Semi-Autonomous UGV Control With Intuitive Interface

Abstract

Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2009
Accession Number
ADA510465

Entities

People

  • Graham Fiorani
  • James Overholdt
  • Karl D. Iagnemma
  • Mitchell M. Rohde
  • Robert M. Lupa
  • Steven M. Rohde
  • Victor E. Perlin

Tags

Communities of Interest

  • Autonomy
  • Biomedical

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Collision Avoidance
  • Computers
  • Control Systems
  • Global Positioning Systems
  • Image Processing
  • Motion Planning
  • Navigation
  • Robot Navigation
  • Robots
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Robotics and Automation.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.

Technology Areas

  • Autonomy
  • Fully Networked C3
  • Fully Networked C3 - Command and Control