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Proceedings Paper

PointCom: semi-autonomous UGV control with intuitive interface
Author(s): Mitchell M. Rohde; Victor E. Perlin; Karl D. Iagnemma; Robert M. Lupa; Steven M. Rohde; James Overholt; Graham Fiorani
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Paper 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. mand).

Paper Details

Date Published: 16 April 2008
PDF: 10 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69620G (16 April 2008); doi: 10.1117/12.777163
Show Author Affiliations
Mitchell M. Rohde, Quantum Signal LLC (United States)
Victor E. Perlin, Quantum Signal LLC (United States)
Karl D. Iagnemma, Massachusetts Institute of Technology (United States)
Robert M. Lupa, Quantum Signal LLC (United States)
Steven M. Rohde, Quantum Signal LLC (United States)
James Overholt, U.S. Army TARDEC (United States)
Graham Fiorani, U.S. Army TARDEC (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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