Cursor-on-Target Control for Semi-autonomous UAS~1

摘要

The research presented in this paper focuses on developing and evaluating the concept of a Cursor-on-Target controller for semi-autonomous unmanned aircraft systems (UAS). The proposed Cursor-on-Target operator interface and control laws provide an extremely intuitive means for an operator (who doesn't have to be an aircraft pilot) to maneuver a UAS with minimum workload. The operator is able to easily control the vehicle without taking eyes off of the sensor display and without having to think in terms of control surface deflections. Autonomous UAS control reduces operator workload; however, real-time information exchange often requires an operator to be able to relay decision changes to the UAS. The goal of this research is to develop a Cursor-on-Target controller to enable the operator to guide the UAS with minimal workload even during high task phases of flight. Then, an operator's ability to track a moving target using the Cursor-on-Target controller is evaluated using an operator-in-the-loop simulation and a proposed UAS Handling Qualities Rating Scale. The results and lessons learned after having several operators perform tracking tasks using the proposed control system and rating scale is presented.