第一人称视角下模拟空中集群的躯体运动控制
Body-Motion Control of a Simulated Aerial Swarm from a First-Person View
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- École polytechnique fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
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中文总结 AI 辅助
本研究提出一种基于上半身运动的接口用于FPV空中集群遥操作，通过映射躯干、手和头部运动控制集群，实验表明该接口比传统发射器减少19.4%完成时间并提高导航效率，但增加了身体负担。
中文摘要 AI 辅助
第一人称视角（FPV）遥操作空中集群要求操作员协调集群的集体平移、观察方向和编队间距。我们提出了一种上半身接口，将躯干倾斜、手部位置和头部旋转映射到五个连续命令维度。针对每位参与者校准了中性姿态和运动范围。在一项受试者内研究中，14名参与者使用该接口和传统发射器，在三维障碍物赛道中导航一个由15个智能体组成的模拟集群。躯体运动控制将完成时间缩短了19.4%，质心路径长度缩短了7.0%，并提高了路径直接性。交付命令的变异降低了88.8%，并发命令变更更加频繁。这些命令度量刻画了完整接口的特征，而两种接口在校准和滤波方面存在差异。在门中心误差、收集产量、碰撞或断连次数、总体工作负荷或可用性方面未检测到差异。所有参与者报告躯体运动控制带来了更高的身体需求。因此，所实现的接口以更高的身体需求为代价，提高了FPV导航效率。
英文摘要
First-person-view (FPV) teleoperation of aerial swarms requires an operator to coordinate collective translation, viewing direction, and formation spacing. We present an upper-body interface that maps torso inclination, hand position, and head rotation to five continuous command dimensions. Neutral postures and motion ranges are calibrated for each participant. In a within-subject study, 14 participants navigated a simulated 15-agent swarm through three-dimensional obstacle courses using this interface and a conventional transmitter. Body-motion control reduced completion time by 19.4% and centroid path length by 7.0%, and increased path directness. Delivered-command variation was 88.8% lower, and concurrent command changes were more frequent. These command measures characterize the complete interfaces, which differed in calibration and filtering. No differences were detected in gate-centering error, collection yield, crash or disconnection counts, overall workload, or usability. All participants reported higher physical demand with body-motion control. The implemented interface therefore improved FPV navigation efficiency at the cost of greater physical demand.
