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Proceedings Paper

Comparison of tele-operation and supervisory control for navigation and driving with degraded communications
Author(s): Gary Witus; R. Darin Ellis; Robert Karlsen; Shawn Hunt
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Paper Abstract

Teleoperation is the currently accepted method of control of military unmanned ground vehicles (UGVs) in the field. Degraded communications affects the operator's tasks of driving, navigating and maintaining UGV situation awareness. A potential approach to address this challenge is to provide the UGV with local autonomy to generate driving commands (translation and rotation rates). This paper describes an experiment and preliminary results comparing "point-and-go" supervisory control in which the operator designates a goal point on the 2D driving display to teleoperation as a function of communications degradation and terrain roughness. Three methods of visual supervisory control were tested (visual dead reckoning and two visual sevoing methods) and compared to teleoperation.

Paper Details

Date Published: 7 May 2010
PDF: 6 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769207 (7 May 2010); doi: 10.1117/12.851467
Show Author Affiliations
Gary Witus, Turing Associates, Inc. (United States)
R. Darin Ellis, Wayne State Univ. (United States)
Robert Karlsen, U.S. Army Tank Automotive Research, Development and Engineering Ctr. (United States)
Shawn Hunt, Turing Associates, Inc. (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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