Creating an Adaptive 和 Intuitive Single-Operator Multi-MAV Interface Using Augmented Reality

The goal of this research is to achieve safe 和 effective singular operator supervision 和 control of multi-micro aerial vehicle (MAV) swarms with an intuitive 和 easy-to-use Augmented Reality interface. Singular-operator swarm control is applicable to multiple industries 和 scenarios [2]. MAVs currently navigate pre-defined paths 和 accomplish given tasks [1]. However, there is a loss of efficiency, as a single operator must have programming knowledge & 管理多个系统. Achieving singular operator control software would allow for users to spatially task the swarm within various environments, preventing conflicts due to errors in other operators/software. The design of the 增强现实 interface was done using 3D interactable objects that are mapped to the positions of the MAVs in the 3D-space. Path-planning 和 execution is done within an AR headset by moving 3D objects to draw the desired path each drone should follow. This is accompanied by a user interface (UI) orbiting the user with options to delete paths, 上传路径到集群, emergency shutoff 和 to execute/stop.

This project will be accomplished by integrating existing software 和 hardware, such as the Robot Operating System (ROS), Crazyswarm [1], Optitrack动作捕捉, HoloLens 2[5] as well as the crazyflie’s Micro-Aerial-Vehicle (MAV) [6] 和 creating new software with the above capabilities. Control of the swarm through this 增强现实 interface has been achieved through the above method using HoloLens 2 和 the execution of software on a ROS-receiving PC. Further improvements in terms of safety features such as environmental obstacle avoidance, 更好的安全功能, 可访问性, 和 integrating more of Crazyswarm’s controls, 正在进行中. My findings show that AR as a means of controlling MAV swarms is viable in an intuitive manner that is easy to utilize for novice users. Additionally, this project allows for further studies into human-robot interaction with MAV swarms & 增强现实.