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2 September 2004 Navigation supervisory control for small UGVs
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Teleoperation is currently the accepted method of controlling UGVs in dynamic and unpredictable real-world situations. It is easily understood and trusted. But teleoperation can be difficult due to limited sensory feedback, and it requires constant and continuous one-on-one operator attention and interaction. It is difficult, if not impossible, for one operator to control multiple independent vehicles or perform parallel mission tasks. Supervisory control is an approach to reduce operator burden while maintaining confidence and trust. In supervisory control, the operator establishes control measures then monitors progress and refines guidance while the UGV navigates with limited autonomy. Supervisory control is intended to complement, not replace, teleoperation. It is intended to be used for coarse or approximate navigation on relatively benign terrain, reserving teleoperation for treacherous terrain, delicate maneuvers, and fine adjustment of position. In this paper we develop a framework of guidelines for effective navigation supervisory control design. We present a "One Touch" Point-and-Go supervisory control interface. We demonstrate visual ground location tracking, the key enabling technology for small UGVs with limited navigation sensors limited to a single camera.
© (2004) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Gary Witus "Navigation supervisory control for small UGVs", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004);


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