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Creation and Evaluation of a Human-Machine Interface for Teleoperating a Rover over a Portable Device

Bettendorf, Michelle Tina (2023) Creation and Evaluation of a Human-Machine Interface for Teleoperating a Rover over a Portable Device. Master's, TU München.

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The goal of this thesis is to design, implement and evaluate a Human-Machine Interface for a portable device to teleoperate a rover. The focus will be on designing a suitable GUI, researching and implementing methods on how to transfer the control data, camera stream and a danger map, and how to implement a specific controller, called spacemouse, in order to teleoperate the rover. For this purpose, a smartphone connected to a spacemouse controller was utilized. In addition three different approaches for the transmission of the camera stream and map were implemented and evaluated. The evaluation was based on testing in different terrains like sand and stones, and also on two user case studies. Among the investigated options were VNC, a software for remote controlling and visualization of the rover, ROS-mobile, a ROS App which displays ROS topics received over UDP, and GStreamer, an open source framework designed for compressing and sending media streams. This thesis is part of a student project on the rover called Luna Rover Mini (LRM). The project intends to have a robot that serves as a research and experimentation platform for students and scientists. Since the hardware is much less expensive than the space robots, more experimental opportunities can be achieved. The design of the LRM is based on the Exo Mars Rover, whose goal is to explore and collect data on mars. The software is based on the Lightweight Rover Unit (LRU), whose goal is to explore unknown and difficult to access terrain.

Item URL in elib:https://elib.dlr.de/200802/
Document Type:Thesis (Master's)
Title:Creation and Evaluation of a Human-Machine Interface for Teleoperating a Rover over a Portable Device
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:57
Keywords:Mobile robots, Human-Maschine Interface, Teleoperating, Portable Device
Institution:TU München
Department:School of Computation, Information and Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Geyer, Günther
Deposited On:08 Dec 2023 14:12
Last Modified:08 Dec 2023 14:12

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