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

• Main Authors: Pitman, David (Contributor), Cummings, M. L. (Contributor)
• Other Authors: Massachusetts Institute of Technology. Humans and Automation Lab (Contributor)
• Format: Article
• Language: English
• Published: Hindawi Publishing Corporation, 2013-01-30T17:32:17Z.
• Subjects: Article
• Online Access: Get fulltext

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.
United States. Office of Naval Research (Grant N00014-07-1-0230)
Boeing Company