Abstract
In order to collaboratively explore an environment with a Micro Aerial Vehicle (MAV), an operator needs a mobile interface, which can support the operator’s divided attention. To this end, we developed the Micro Aerial Vehicle Exploration of an Unknown Environment (MAV-VUE) interface, which allows operators with minimal training the ability to remotely explore their environment with a MAV. MAV-VUE employs a concept we term Perceived First-Order (PFO) control, which allows an operator to effectively “fly” a MAV with no risk to the vehicle. PFO control utilizes a position feedback control loop to fly the MAV while presenting rate feedback to the operator. A usability study was conducted to evaluate MAV-VUE. This interface was connected remotely to an actual MAV to explore a GPS-simulated urban environment.
Highlights
Field personnel, such as emergency first responders, police, specialists, or dismounted, forward-deployed soldiers, often rely on satellite-based maps to gain information prior to or during field operations
While it can be safely assumed that roads approximate a level plane, the rest of an urban environment is often closer to a series of blocks of varying heights or depths with shadows cast by adjacent buildings
One participant’s times and Nudge Control command data was not used due to the Micro Aerial Vehicle (MAV) crashing, which occurred as a result of network interference and was not caused by the participant’s actions
Summary
Field personnel, such as emergency first responders, police, specialists (e.g., building inspectors or bomb technicians), or dismounted, forward-deployed soldiers, often rely on satellite-based maps to gain information prior to or during field operations. All of these groups operate in hazardous environments, which may contain hostile, armed people, unstable structures, or environmental disasters. Introducing automation into the inner control loops of basic flight control and navigation allows an operator to effectively execute higher level mission-related goals To this end, in a later section we will describe a control architecture and user interface that allows a field operator the ability to use a MAV to explore an environment without having to spend critical cognitive resources on low level control and navigation tasks
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