Remote Operators Prefer Goal-based Semi-Autonomous Algorithms (PREPRINT)

Abstract

This focus of this research was to determine if reliable goal-based semiautonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were looked at: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while uses internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research proved that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust as possible. The developed algorithms were implemented on a currently fielded military robot and a human-in-the-loop experiment was conducted to measure performance.

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Document Details

Document Type
Technical Report
Publication Date
Apr 18, 2011
Accession Number
ADA541538

Entities

People

  • Abhilash Pandya
  • Gary Witus
  • R. D. Ellis
  • Shawn Hunt

Organizations

  • United States Army Tank Automotive Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Systems
  • Computer Vision
  • Computers
  • Control Systems
  • Coordinate Systems
  • Dead Reckoning
  • Ground Vehicles
  • Inertial Measurement Units
  • Robotics
  • Robots
  • Supervisory Control
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Robotics and Automation.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Neural Networks
  • Autonomy
  • Autonomy - Autonomous System Control