Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 59)

idea of how close an obstacle is to the robot without overwhelming the user. It is also extremely

accurate, which can help produce a better mental model of the environment. The operator does

not have to extrapolate what the area might look like based on colored boxes, thus reducing

their cognitive load. The user can see the flow of the obstacles with respect to the robot’s

movements. It also helps to give the user a more accurate idea as to what the layout ahead looks

like.

The main complaint about the interface during the previous study was that the map was too

small. It is not only hard to make out where the robot is located on it, but also it is hard to

understand the robot’s orientation. The idea we had to counter this was to use a video-game

technique known as a mini-map. We would keep the map small and displaying local space. Then

the user could toggle a larger version to overlay the screen. The larger version would show the

entire map space. When the user is done with the larger map, they toggle it back to the smaller

version of the map. This works very will in video games that need to conserve screen real estate.

One example of this is Battlefield 2 seen in figure 19.

5.3.1 Design

Using the results from the previous experiment, we again set out to improve upon the interface.

For this version, we chose to again scrap the current distance panel. Although the boxes were

better than the bars, their uncertainty made it impossible for the user to trust the system. In its

place, we chose to implement the zoom mode feature as the main distance panel. However, we

added to it to encompass the entire circumference of the robot. The front part of the robot

would use the laser data, while the left, back and right sides would use the sonar data. We also

added tick marks to indicate the distance that the lines portrayed. These tick marks are spaced in

0.25 meter increments. This panel was again placed directly under the main video display.

Unlike the previous zoom mode, this new panel also had the ability to not only give a top-down

view, but also a perspective view. We saw in the previous study that users liked having the ability

to go from a 2D map to a 3D map and since the zoom mode is technically a local space map, we

felt users would appreciate this toggle ability here as well (shown in figure 21). Also, as with the

previous distance panel, this panel also rotated with respect to the user panning the camera.

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Miller Robotic Interface II Manual de usuario Pagina 59