Naslov
Teleoperated trajectory tracking of remotely operated vehicles using spatial auditory interface

Autori
Vasilijević, Antonio ; Vukić, Zoran ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid - : IFAC Proceedings Volumes (IFAC-PapersOnline), 2016, 97-102

Skup
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)

Mjesto i datum
Trondheim, Norveška, 13.09.2016. - 16.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robotics ; Teleoperation ; Human-machine interface ; Auditory interface ; Guidance systems ; Control laws ; Trajectory tracking

Sažetak
The majority of Human-Machine-Interfaces (HMIs) designed for teleoperation of Unmanned Vehicles (UVs) present information only visually. Frequent overloading of operator's visual channel may cause unwanted mishaps. In order to reduce such mishaps and improve overall operating performance, this paper proposes the extension of the HMI by hearing modality in the form of spatial auditory display for trajectory tracking, the most complex guidance task. The main novelty of the interface is introduction of guidance laws to generate the reference presented to the operator as a spatial auditory image of the virtual target to be followed. Guidance laws for teleoperated trajectory tracking are based on modified "lookahead distance" strategy, known from path following applications. The paper also analyzes the stability of the kinematic controller based on this new guidance control law. The experiments show that the novel guidance strategy provides comprehensible and effective reference providing excellent trajectory tracking performance.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA