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Teleoperation of Rescue Robots in Urban Search and Rescue Tasks An Investigation of Factors which effect Operator Performance and Accuracy
| Content Provider | Semantic Scholar |
|---|---|
| Author | Brownbridge, Jason |
| Copyright Year | 2008 |
| Abstract | We develop a novel system which allows the Nintendo Wiimote and Nunchuk to be used as control devices for teleoperating rescue robots, and find that these devices provide a good mapping for teleoperation tasks. However, they cannot be used for accurate head tracking due to the limited precision of the infrared camera used to measure lateral motion. We incorporate these devices as controllers in an existing Urban Search and Rescue simulator, with proven fidelity, and use this simulator to investigate the impact of several factors on operator performance and accuracy. These factors include different lighting conditions, camera control techniques, partial chassis visibility and the presence of a head-up display (HUD). We do this through two separate rounds of user experimentation, and find that different lighting conditions and camera control techniques impact significantly on operator performance, whereas the presence of a head-up display impacts significantly on operator accuracy. For the lighting condition we find that performance is better when operators have greater visibility, which is not surprising. For the different camera control techniques we find that the best performance occurs with no camera control. This is surprising as it conflicts with previous research and we believe this is mainly due to time pressure on subjects, as well as, the low specificity required for the search and inspection task. We support this argument by examining subjects' drive and camera usage patterns. We find that the presence of the HUD increases subjects' accuracy and we attribute this to the greater situational awareness that the laser scanner display provides (which allows subjects to measure the distance between the robot and objects in its environment). |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://people.cs.uct.ac.za/~jbrownbridge/downloads/Jason%20Brownbridge's%20Thesis.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Thesis |
