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A New Control Mode for Teleoperated Differential Drive UGVs
Swedish Defence Res. Agency, Stockholm.ORCID iD: 0000-0002-7714-928X
Swedish Defence Res. Agency, Stockholm.
2007 (English)In: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, 446-471 p.Conference paper (Refereed)
Abstract [en]

This paper proposes a control mode that enables the users of teleoperated non-holonomic differential drive unmanned ground vehicles (UGVs) to interact with the unmanned vehicles in a new way. By introducing an intermediate control layer, a user interface that is very similar to so-called first person shooter (FPS) computer games, e.g. Doom and Half Life, can be created. The advantages of such interfaces is that they are intuitive, and that literally millions of potential future UGV-operators already have spent hundreds of hours training with them. The control mode gives the user direct control of the position and orientation of the on-board camera, while the actual orientation of the vehicle is abstracted away using feedback linearization. Thus, the idea is similar to using inverse kinematics to directly control the position and orientation of a robot arm gripper. The paper first describes the predominant direct vehicle control model, as well as the FPS interfaces. It is then shown how the proper choice of intermediate control layer can make the two equivalent

Place, publisher, year, edition, pages
2007. 446-471 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-58792ISI: 000255181700079ISBN: 978-1-4244-1497-0OAI: diva2:474095
46th IEEE Conference on Decision and Control. New Orleans, LA. DEC 12-14, 2007
QC 20120109Available from: 2012-01-09 Created: 2012-01-09 Last updated: 2012-01-09Bibliographically approved

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Ögren, Petter
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