Collaborative Exploration with a Micro Aerial Vehicle : A Novel Interaction Method for Controlling a MAV with a Hand-Held Device

الملخص EN

In order to collaboratively explore an environment with a Micro Aerial Vehicle (MAV), an operator needs a mobile interface, which can support the operator’s divided attention.

To this end, we developed the Micro Aerial Vehicle Exploration of an Unknown Environment (MAV-VUE) interface, which allows operators with minimal training the ability to remotely explore their environment with a MAV.

MAV-VUE employs a concept we term Perceived First-Order (PFO) control, which allows an operator to effectively “fly” a MAV with no risk to the vehicle.

PFO control utilizes a position feedback control loop to fly the MAV while presenting rate feedback to the operator.

A usability study was conducted to evaluate MAV-VUE.

This interface was connected remotely to an actual MAV to explore a GPS-simulated urban environment.