Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 41)

from the front camera to the rear camera. This switch also remaps the driving controls and

sensor information so that the back of the robot appears to be the front allowing the user to

drive the robot the same forward or backward. Although escape mode acted appropriately, all

of the subjects commented that the robot should move backwards when in ADR mode.

Two of the three subjects we tested were content with using some form of autonomy to control

the robot. The first subject spent the majority of the run in shared mode and commented that

“you can let it do most of the driving and look while it drives.” The third subject was frustrated

by safe mode because the robot would stop itself. Often was the case that this user would then

switch back to teleop mode and continue on the current path, which in most instances, resulted

in the robot hitting the obstacle that originally caused safe mode to stop the robot.

We observed that subjects who made more use of the autonomy modes had better SA. We

noted that the third operator, who used teleop mode for the majority of the run, accounted for

17 (73%) of the 24 total hits during this study. This user also only found 33% of the victims in

the arena, while subject 2 hit a total of 4 objects and found 81% of the victims. Subject 1, who

did the best, hit only two objects and found 100% of the victims. This information is

summarized in table 3.

Because it is a much safer way to operate the robot, we prefer our users to be in an autonomous

mode at all times. However, sometimes there may be a need to switch to teleop mode. Most of

the time, however, safe mode will perform better because it puts the robot, the environment and

victims in much less danger since the robot is less likely to collide into things of which the user

may not be aware. Over 90% of the hits occurred while the users were in teleop mode. Safe

mode is a better alternative. However, we did notice that many users got frustrated with safe

mode. This frustration, which was also mention above, occurred when the robot would not

move due to an obstacle being in the way. Often the obstacle was out of camera view, so the

path seemed clear to the user. In these cases, the user would often either think the system was

lagging and not receiving the drive commands, or they would just put the robot in teleop mode

and move ahead anyway, crashing in to the obstacle of which they were not aware. Sometimes

however, it did cause them to glance at the distance panel and notice they were close to an

obstacle. We felt that flashing the proximity information around the video screen to signal that

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Miller Robotic Interface II Manual de usuario Pagina 41