Aerial teleoperation for quadrotors based on gaze-guidance

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-10-30 DOI:10.1016/j.conengprac.2024.106138

Jiahui Hu , Yonghua Lu , Jing Li , Haibo Yang , Jingjing Liu

引用次数: 0

Abstract

Gaze is a non-verbal behavior that is an important communication cue and a direct reflection of subjective intent. However, few research works have intervened gaze into the aerial teleoperation circuits of unmanned aerial vehicles (UAVs). This paper proposed an aerial teleoperation framework based on gaze-guidance, mainly built on the novel theory of non-invasive gaze tracking and gaze-drive. We demonstrate how a monocular gaze tracker can acquire human gaze signals and convert them into lupin and efficient control intentions, thus allowing humans to assign tasks to an automated quadrotor without body movements. Extensive and complex simulations and real-world experiments are conducted to verify the superior performance of the proposed method in obstacle traversal.

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基于凝视导航的四旋翼飞行器空中遥控操作

目光是一种非语言行为，是重要的交流线索，也是主观意图的直接反映。然而，很少有研究将目光引入无人飞行器（UAV）的空中遥控电路中。本文提出了一种基于凝视引导的空中遥控框架，主要建立在无创凝视跟踪和凝视驱动的新理论基础上。我们展示了单目注视跟踪器如何获取人类注视信号，并将其转换为鲁班和高效的控制意图，从而使人类能够在不移动身体的情况下为自动四旋翼飞行器分配任务。我们进行了大量复杂的模拟和实际实验，以验证所提方法在穿越障碍物方面的卓越性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.