Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 30)

send the corresponding command out to the robot to be acted upon. These events control

many actions, including moving the robot, changing autonomy modes and panning the camera.

Having an event get triggered is faster than waiting for a control loop to read the current

position of the joystick to adjust the robots speed. If we used the control loop method, many

button presses may be missed if the control loop is not fast enough to catch them.

However, it is appropriate to have the interface panels be managed by a control loop. This loop

watches various timers that are used to activate when certain items such as the map or status

panel get updated. Seeing some panels are not as important as others; they don’t require updates

as often as more important ones. For instance, the distance panel is updated five times a

second, whereas the status panel is updated only once a second. Currently, there is not a huge

speed increase in doing this, meaning the status panel could get updated five times a second

without a noticeable slowdown, but if many more panels were added, having this ability becomes

a benefit.

4.3 Autonomy Modes

The robot system has four autonomy modes: teleoperation, safe, shared and escape, based upon

Bruemmer et al. [2002]. In the teleoperation mode, the operator makes all decisions regarding

the robot’s movement. No sensors are used to help keep the robot from bumping into objects.

It is often described as similar to driving a remote controlled car. In safe mode, the operator still

directs the robot, but the robot will use its distance sensors to prevent the operator from driving

into obstacles. Shared mode is a semi-autonomous navigation mode. The user tells the robot

the general direction they want to go. Based on sensor readings, the robot will comply with the

user's request, or it may choose to take a slightly different trajectory if the user's desired direction

is unsafe. For instance, if a user tells the robot to more forward, but to the front right of the

robot is a close obstacle, the robot will elect to more in a forward-left trajectory. By default,

escape mode is the only fully autonomous mode on the system. If the user puts the robot into

escape mode, the robot will maneuver itself out of tight spaces. This mode was extremely useful

when the robot only had one camera, which was facing forward. If the user traveled down a

tight corridor that led to a dead end, often they were unable to turn the robot in place because it

was so narrow. The use of escape mode in these types of situations was very common.

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Miller Robotic Interface II Manual de usuario Pagina 30