Control interface for a high velocity teleoperated robot
Name
42695743-MIT.pdf
Description
Full printable version
Size
6.5 MB
Format
Adobe PDF
Checksum (MD5)
accb91751f2be556d891b749c5032187
Author(s)
Thele, John D. (John David), 1976-
Advisor(s)
John J. Leonard.
Date Issued
1999
Publisher
Massachusetts Institute of Technology
Abstract
This thesis describes the design and implementation of a control interface suitable for controlling a microrover at high speed. For the purposes of this thesis, a control interface describes the collection of software and input devices used by an operator to interact with a microrover that is not within sight. A microrover is a small, lightweight, robotic vehicle, often less than a meter in length, used to provide a mobility platform for mounting a variety of sensors. Traditional remotely operated microrover systems (where the operator cannot see the microrover) are unable to operate at speeds greater than 0.5 m/s. The microrover used to prepare this thesis operates at a maximum speed of 1.5 m/s, but the control interface described herein should be applicable at even greater speeds, perhaps as fast as 5.0 m/s. Preliminary results show that this control interface performs adequately in comparison to a more traditional interface that uses only live video from the robot.
Description
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.
Includes bibliographical references (p. 83-84).
Subjects
Electrical Engineering and Computer Science
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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