论文标题
迈向沉浸式用户界面，以进行移动机器人的航向导航
Towards an immersive user interface for waypoint navigation of a mobile robot
论文作者
论文摘要
在本文中，我们研究了用于导航移动机器人的头部安装显示（HMD）接口的实用性。我们专注于机器人的航路点位置的选择，同时保持对机器人环境的自我中心视图。受虚拟现实（VR）游戏的启发，我们提出了一种目标选择方法，该方法使用了商业VR耳机的6度跟踪控制器。这使操作员可以在机器人附近指向所需的目标位置，然后机器人自动导航。进行了用户研究（37名参与者），以检查与直接控制相比，无论是在有和没有通信延迟的情况下，该控制策略的功效。实验的结果表明，参与者能够学习如何快速使用新型系统，并且大多数参与者报告了对路点控制的偏爱。在所有记录的指标（任务性能，操作员工作负载和可用性）中，所提出的Waypoint控制接口并未受到通信延迟的显着影响，而与直接控制相比。模拟实验表明，所提出的界面的现实实施可能是有效的，但也强调了管理HMD的负面影响，尤其是VR疾病的负面影响。
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's environment. Inspired by virtual reality (VR) gaming, we propose a target selection method that uses the 6 degrees-of-freedom tracked controllers of a commercial VR headset. This allows an operator to point to the desired target position, in the vicinity of the robot, which the robot then autonomously navigates towards. A user study (37 participants) was conducted to examine the efficacy of this control strategy when compared to direct control, both with and without a communication delay. The results of the experiment showed that participants were able to learn how to use the novel system quickly, and the majority of participants reported a preference for waypoint control. Across all recorded metrics (task performance, operator workload and usability) the proposed waypoint control interface was not significantly affected by the communication delay, in contrast to direct control. The simulated experiment indicated that a real-world implementation of the proposed interface could be effective, but also highlighted the need to manage the negative effects of HMDs - particularly VR sickness.
