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Cooperative path-following control of a remotely operated underwater vehicle for human visual inspection task
http://hdl.handle.net/10061/0002000487
http://hdl.handle.net/10061/000200048729facdff-478f-4837-8e32-feeac63144e8
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-06-26 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Cooperative path-following control of a remotely operated underwater vehicle for human visual inspection task | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | shared control | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | ROVs | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | holonomic robot | |||||||||||
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| 主題Scheme | Other | |||||||||||
| 主題 | human-machine system | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | cooperative control | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
Sato, Eito
× Sato, Eito
× Liu, Hailong
× 織田, 泰彰× Sakagami, Norimitsu
× 和田, 隆広 |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | In recent years, significant attention has been paid to remotely operated underwater vehicles (ROVs) in the performance of underwater tasks, such as the inspection and maintenance of the underwater infrastructure. The workload of ROV operators tends to be high, even for the skilled operators. Therefore, assistance methods for the operators are desired. This study focuses on a task in which a human operator controls an underwater robot to follow a certain path while visually inspecting objects in the vicinity of the path. In such a task, it is desirable to achieve the speed of trajectory control manually because the visual inspection is performed by a human operator. However, to allocate resources to visual inspection, it is desirable to minimize the workload on the path-following by assisting with the automatic control. Therefore, the objective of this study is to develop a cooperative path-following control method that achieves the above-mentioned task by expanding a robust path-following control law of non-holonomic wheeled vehicles. To simplify this problem, we considered a path-following and visual objects recognition task in a two-dimensional plane. We conducted an experiment with participants (n = 16) who completed the task using the proposed method and manual control. We compared results in terms of object recognition success rate, tracking error, completion time, attention distribution, and workload. The results showed that both the path-following errors and workload of the participants were significantly smaller with the proposed method than with manual control. In addition, subjective responses demonstrated that operator attention tended to be allocated to object recognition rather than robot operation tasks with the proposed method. These results demonstrate the effectiveness of the proposed cooperative path-following control method. | |||||||||||
| 書誌情報 |
en : Frontiers in Control Engineering 巻 3, 発行日 2022-12-08 |
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| 出版者 | ||||||||||||
| 出版者 | Frontiers Media | |||||||||||
| ISSN | ||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2673-6268 | |||||||||||
| 出版者版DOI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.3389/fcteg.2022.1056937 | |||||||||||
| 出版者版URI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://www.frontiersin.org/journals/control-engineering/articles/10.3389/fcteg.2022.1056937/full | |||||||||||
| 権利 | ||||||||||||
| 権利情報Resource | http://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 権利情報 | $00A9 2022 Sato, Liu, Orita, Sakagami and Wada. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | NA | |||||||||||
