Haptic shared control applied for ROV operation support in flowing water
Pages 867 - 875
Abstract
Compact and economical remotely operated vehicles (ROVs) have become widely used worldwide. Nevertheless, it is not easy for inexperienced operators to control an ROV that moves while influenced by some external disturbance such as flowing water or waves. For this study, haptic shared control (HSC) was used to support beginner operators of an ROV in flowing water. We conducted experiments using HSC and manual control for stationary position-keeping and visual identification tasks. Subjective evaluation showed that HSC reduced the operators’ weighted workload compared to manual control and showed that operators devoted attention to a visual task more than to the position-keeping task. Objective data indicate that the root mean square error of the ROV position in the case of HSC was less than that in the case of manual control.
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© International Society of Artificial Life and Robotics (ISAROB) 2022. Springer Nature or its licensor holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
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Springer-Verlag
Berlin, Heidelberg
Publication History
Published: 01 November 2022
Accepted: 17 August 2022
Received: 14 May 2022
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