Head Coupled Sensor Platform For Teleoperated Ground Vehicles.

摘要

This paper describes a remote vision system applicable to the teleoperation of unmanned ground vehicles. The features of the remote vision system are presented along with a description of its components: a sensor suite, a head slaved platform, and a head mounted display. An emphasis is placed on the remote platform dynamics. Performance goals are discussed and nominal head trajectories generated for use in a simulation study which was conducted to determine if these goals are achievable. Simulation and experimental results demonstrate that the electromechanical pan and tilt prototype approaches the desired performance goals. An analytical formulation of the pan and tilt dynamics is also given. (EDC)