Control interface for a high velocity teleoperated robot

This thesis describes the design and implementation of a control interface suitable for controlling a microrover at high speed. For the purposes of this thesis, a control interface describes the collection of software and input devices used by an operator to interact with a microrover that is not within sight. A microrover is a small, lightweight, robotic vehicle, often less than a meter in length, used to provide a mobility platform for mounting a variety of sensors. Traditional remotely operated microrover systems (where the operator cannot see the microrover) are unable to operate at speeds greater than 0.5 m/s. The microrover used to prepare this thesis operates at a maximum speed of 1.5 m/s, but the control interface described herein should be applicable at even greater speeds, perhaps as fast as 5.0 m/s. Preliminary results show that this control interface performs adequately in comparison to a more traditional interface that uses only live video from the robot.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1999

Author dc:creator

• Thele, John D. (John David), 1976-

Advisor dc:contributor.advisor

• John J. Leonard.

• Electrical Engineering and Computer Science

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/9727

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/9727