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

David Pitman, Mary L. Cummings
2012 Advances in Human-Computer Interaction  
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
more » ... ely "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.
doi:10.1155/2012/768180 fatcat:zkx7slnc75aazj2tfgdvmuhhqq