Systematic Tele-operation with Augmented Reality Path Planned Navigation Cues in Cluttered Environments

Abstract

A novel method of providing human operators with Augmented Reality (AR) cues for collision-free navigation of robot arms in cluttered environments is described. The cues are graphic objects that aid the operator to rotate and translate the end-effector of the robot along AR collision-free paths pre-computed by a probabilistic path planner. Manual control of robot arms is a common mode of tele-manipulation on the International Space Station (ISS). Limited depth perception of the remote robot's 3D worksite can result in collisions with severe consequences. This paper combines the qualities of a planning algorithm to search for ideal paths, and the benefits of augmented reality for enhanced visualization. Presenting spatial path information to the user in an intuitive manner results in collision-free robot navigation along with performance repeatability. We present findings from the implementation of such a system with human operators and show that the system is beneficial.

Get full access to this article

View all access options for this article.

References

Chen

J. Y. C.

Haas

E. C.

Barnes

M. J.

(2007). Human Performance Issues and User Interface Design for Teleoperated Robots. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, 37 (6), 1231–1245.

Chintamani

Cao

Ellis

R. D.

Pandya

A. K.

(2008). Improved Tele-manipulator Navigation during Display-Control Misalignments using Augmented Reality Cues. IEEE Transactions on Systems, Man, and Cybernetics, Part (A), To be published.

Ellis

S. R.

(2000). Collision in space: Human Factors Elements of the Mir- Progress 234 Collision. Ergonomics in Design, 8 (1), 4–9.

Ellis

S. R.

Tyler

Kim

W. S.

Stark

(1991). Three-dimensional tracking with misalignment between display and control axes. Transactions of the Society of Automotive Engineers: Journal of Aerospace, 100 (1), 985–990.

Kavraki

L. E.

Svestka

Latombe

J. C.

Overmars

M. H.

(1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12 (4), 566–580.

Kim

W. S.

Ellis

S. R.

Tyler

M. E.

Hannaford

Stark

L. W.

(1987). Quantitative evaluation of perspective and stereoscopic displays in three-axis manual tracking tasks. IEEE Transactions on Systems, Man and Cybernetics, 17 (1), 61–72.

Lapointe

J-F.

Dupuis

Hartman

Gillett

(2002, October 21–23). An Analysis of Low-Earth Orbit Space Operations. Paper presented at the Proceedings of the Joint Association of Canadian Ergonomists/Applied Ergonomics Conference, Alberta, Canada.

Maida

J. C.

Bowen

C. K.

Pace

(2007). Improving Robotic Operator Performance Using Augmented Reality Paper presented at the Proceedings of the Human Factors and Ergonomics Society 51st Annual Meeting, Baltimore, Maryland, USA.

Nawab

Chintamani

Ellis

R. D.

Auner

Pandya

(2007). Joystick mapped Augmented Reality Cues for End-Effector controlled Teleoperated Robots. Paper presented at the IEEE Virtual Reality Conference, Charlotte, North Carolina, USA.