Evaluating the presentation and usability of 2D and 3D maps generated by unmanned ground vehicles

摘要

Currently fielded small unmanned ground vehicles (SUGVs) are operated via teleoperation. This method of operation requires a high level of operator involvement within, or near within, line of sight of the robot. As advances are made in autonomy algorithms, capabilities such as automated mapping can be developed to allow SUGVs to be used to provide situational awareness with an increased standoff distance while simultaneously reducing operator involvement. In order to realize these goals, it is paramount the data produced by the robot is not only accurate, but also presented in an intuitive manner to the robot operator. The focus of this paper is how to effectively present map data produced by a SUGV in order to drive the design of a future user interface. The effectiveness of several 2D and 3D mapping capabilities was evaluated by presenting a collection of pre-recorded data sets of a SUGV mapping a building in an urban environment to a user panel of Soldiers. The data sets were presented to each Soldier in several different formats to evaluate multiple factors, including update frequency and presentation style. Once all of the data sets were presented, a survey was administered. The questions in the survey were designed to gauge the overall usefulness of the mapping algorithm presentations as an information generating tool. This paper presents the development of this test protocol along with the results of the survey.