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16 April 2008 PointCom: semi-autonomous UGV control with intuitive interface
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Abstract
Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).
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Mitchell M. Rohde, Victor E. Perlin, Karl D. Iagnemma, Robert M. Lupa, Steven M. Rohde, James Overholt, and Graham Fiorani "PointCom: semi-autonomous UGV control with intuitive interface", Proc. SPIE 6962, Unmanned Systems Technology X, 69620G (16 April 2008); https://doi.org/10.1117/12.777163
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