Wei Liang Kenny Chua, Matt Johnson, T. Eskridge, Brenan Keller
{"title":"AOA:环境避障界面","authors":"Wei Liang Kenny Chua, Matt Johnson, T. Eskridge, Brenan Keller","doi":"10.1109/ROMAN.2014.6926224","DOIUrl":null,"url":null,"abstract":"In this paper, we present a novel interface for teleoperating ground vehicles. Obstacle avoidance with ground vehicles demands a high level of operator attention, typically distracting from the primary mission. The Ambient Obstacle Avoidance (AOA) was designed to allow operators to effectively perform a primary task, such as search, while still effectively avoiding obstacles. The AOA wraps around a standard video interface and provides range information without requiring a separate screen. AOA combines and reduces different data streams into proportionately scaled symbology that directly shows important relationships between vehicle width, vehicle orientation and obstacles in the environment. The use of the AOA interface was tested in both simulation and on physical robots. Results from both tests show an improvement in obstacle avoidance during navigation with the AOA. In addition, results from the simulation test indicate that operators using AOA were able to leverage ambient vision such that the primary visual task was not impeded.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"AOA: Ambient obstacle avoidance interface\",\"authors\":\"Wei Liang Kenny Chua, Matt Johnson, T. Eskridge, Brenan Keller\",\"doi\":\"10.1109/ROMAN.2014.6926224\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we present a novel interface for teleoperating ground vehicles. Obstacle avoidance with ground vehicles demands a high level of operator attention, typically distracting from the primary mission. The Ambient Obstacle Avoidance (AOA) was designed to allow operators to effectively perform a primary task, such as search, while still effectively avoiding obstacles. The AOA wraps around a standard video interface and provides range information without requiring a separate screen. AOA combines and reduces different data streams into proportionately scaled symbology that directly shows important relationships between vehicle width, vehicle orientation and obstacles in the environment. The use of the AOA interface was tested in both simulation and on physical robots. Results from both tests show an improvement in obstacle avoidance during navigation with the AOA. In addition, results from the simulation test indicate that operators using AOA were able to leverage ambient vision such that the primary visual task was not impeded.\",\"PeriodicalId\":235810,\"journal\":{\"name\":\"The 23rd IEEE International Symposium on Robot and Human Interactive Communication\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-10-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 23rd IEEE International Symposium on Robot and Human Interactive Communication\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMAN.2014.6926224\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMAN.2014.6926224","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
In this paper, we present a novel interface for teleoperating ground vehicles. Obstacle avoidance with ground vehicles demands a high level of operator attention, typically distracting from the primary mission. The Ambient Obstacle Avoidance (AOA) was designed to allow operators to effectively perform a primary task, such as search, while still effectively avoiding obstacles. The AOA wraps around a standard video interface and provides range information without requiring a separate screen. AOA combines and reduces different data streams into proportionately scaled symbology that directly shows important relationships between vehicle width, vehicle orientation and obstacles in the environment. The use of the AOA interface was tested in both simulation and on physical robots. Results from both tests show an improvement in obstacle avoidance during navigation with the AOA. In addition, results from the simulation test indicate that operators using AOA were able to leverage ambient vision such that the primary visual task was not impeded.