Influence of human-computer interface elements on performance of teleoperated mobile robot

摘要

Mobile robots are becoming ubiquitous, with applications which usually include a degree of autonomy. However, due to uncertain and dynamic nature of operational environment, algorithms for autonomous operation might fail. In order to assist the robot, the human operator might need to take control over the robot from remote location. In order to efficiently and safely teleoperate the robot, the operator has to have high degree of situational awareness. This can be achieved with appropriate human-computer interface (HCI), so that the remote environment model constructed with sensor data is presented at appropriate time, and that robot commands can be issued intuitively and easily. In the research, influence of HCI elements on performance of teleoperated mobile robot was studied for several tasks and with several HCI setups. The user study was performed, in which accuracy and speed of completion of given tasks were measured on a real robot. Statistical analysis was performed in order to identify possible setup dependencies. It showed that, in majority of analysed cases and based on introduced metrics, there is no significant difference between the setups, and between the visual control and teleoperation. Finally, conclusions were drawn with emphasis on benefits of information technology in particular case.