远程穿越性：重新思考地形导航中远程操作地面机器人的穿越性

中文摘要 AI 辅助

遥操作是一种人在回路中的控制方案，允许人类操作员远程指挥和引导移动机器人在越野环境中导航，然而流畅且用户友好的远程导航要求人与机器人之间的穿越性评估保持一致。在遥操作系统中，人类操作员通常通过人机界面利用场外不完整且延迟的反馈来做出穿越性判断，而机器人则基于现场机载传感信息进行此类评估，这可能导致穿越性估计出现分歧，从而产生不匹配的决策和行动。现有的穿越性建模、估计和预测方法主要从机器人的视角（即机器人中心）出发，实际适用于完全自主的移动机器人，但忽略了人类操作员的影响。为解决这一问题，本文通过考虑操作员的认知状态（如注意力、工作负荷以及风险容忍度或风险意识），将穿越性的概念从机器人中心扩展到人类中心，称之为远程穿越性。我们首先重新审视穿越性在机器人学中的定义和作用，然后将其扩展到遥操作场景。最后，我们展望了面向以人为中心的遥操作系统的远程穿越性的未来趋势和开放挑战。

英文摘要

Teleoperation, a human-in-the-loop control scheme, allows a human operator to remotely command and guide a mobile robot to navigate in off-road environments, yet fluent and user-friendly tele-navigation requires an alignment of traversability evaluation between human and robot. In the teleoperation system, the human operator typically utilizes off-site incomplete and delayed feedback via a human-machine interface to make a judgment of traversability, while the robot makes such an evaluation based on in situ onboard sensory information, which could cause divergent traversability estimation and thus generate mismatched decisions and actions. Existing approaches for traversability modeling, estimation, and prediction are mainly derived from the view of robots, i.e., robot-centric, and are practically suitable for fully autonomous mobile robots, but neglect the influence of human operators. To address this problem, this paper extends the concept of traversability from robot-centric to human-centric by accounting for the operator's cognitive states, such as attention, workload, and risk tolerance or awareness, termed tele-traversability. We first revisit the definitions and roles of traversability in robotics and then extend them to teleoperation settings. Finally, we highlight future trends and open challenges of tele-traversability toward human-centric teleoperation systems.

发表机构

• Beijing Institute of Technology（北京理工大学）
• University of Auckland（奥克兰大学）
• University of Science and Technology Beijing（北京科技大学）
• Tsinghua University（清华大学）

机构由 AI 辅助整理，请以论文原文为准。