Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance

<p>The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust as possible. The developed algorithms were implemented on a currently fielded military robot and a human-in-the-loop experiment was conducted to measure performance.</p>

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Open Access Dissertation

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Year dc:date.available

2010

Author dc:creator

• Hunt, Shawn

Contributors dc:contributor

• Abhilash Pandya
• R. Darin Ellis

• robotics
• teleoperation
• tracking
• visual servoing

Repository record dc:identifier

https://digitalcommons.wayne.edu/oa_dissertations/141

OAI identifier oai:identifier

oai:digitalcommons.wayne.edu:oa_dissertations-1140