Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 34)

Figure 9: The map panel. It shows the current area that the robot is in, as well as the path it took around the

environment. The robot is indicated by a green triangle.

The placement of this panel has changed throughout the evolution of the interface, but we have

always kept it at the same eye level as the video screen. This makes it more visible to the user,

which makes them less apt to forget that the panel exists.

The map package we used changed from the Naval Research Laboratory (NRL) mapping

package, WAX, [Schultz et al., 1999] to the PMap package out of the University of Southern

California [Howard, 2004]. However, the basic idea of the map panel remains unchanged.

The distance panel is the panel that has by far been the main focus of this interface throughout

its development. It is a key provider of situation awareness for all “blind spots” on the robot

(i.e. spots out of the robot's current camera view). This panel displays the current distance

sensor readings to the user. The presentation of this panel has differed widely during the course

of its progression and will be discussed more thoroughly in the next chapter.

Some interfaces, such as the Swarthmore interface shown in figure 4, display similar distance

sensor data in separate displays on the screen. This goes against the guideline which states that

interfaces should fuse sensor information to reduce the user’s cognitive load. We, however,

have followed this guideline and have merged the two distance sensor’s data in to a single panel.

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Miller Robotic Interface II Manual de usuario Pagina 34