Evaluation of Human Control in Teleoperation of Underwater Vehicles

Abstract

In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking is performed. For this goal a structure of a nested control loop is supposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human teleoperation. For modeling the human control actions a PID-like controller is proposed. The identification of the parameters of the PID is carried out in both domains, time and frequency. Features of these studies are based on experiments designed by simulations and on-line interaction of the teleoperator by means of a joystick.