Autonomous robots are capable of navigating on their own. In some cases, though, it is interesting to allow humans to influence navigation. Shared control is typically achieved either by giving control to the human or the robot at some specific situations. In this work, we propose a method to share control between humans and robots at each point of a given trajectory, so that both have weight in the resulting behavior of the mobile. This is achieved by estimating their respective local efficiencies at each time instant and combining their commands into a single order. In order to achieve a seamless combination, this procedure is integrated into a bottom-up architecture via a reactive layer. The system is meant to be used in wheelchair control for people with disabilities. Thus far, we have tested the proposed method using a Pioneer AT robot driven by several volunteers. Results have been satisfactory both from a quantitative and qualitative point of view. ©2007 IEEE.
Efficiency based reactive shared control for collaborative human-robot navigation / URDIALES, C; PONCELA, A; SANCHEZ TATO, I; GALLUPPI, F; OLIVETTI, Marta. - (2007), pp. 3586-3591. (Intervento presentato al convegno 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 tenutosi a San Diego; United States nel September 9-15) [10.1109/IROS.2007.4399288].
Efficiency based reactive shared control for collaborative human-robot navigation
OLIVETTI, Marta
2007
Abstract
Autonomous robots are capable of navigating on their own. In some cases, though, it is interesting to allow humans to influence navigation. Shared control is typically achieved either by giving control to the human or the robot at some specific situations. In this work, we propose a method to share control between humans and robots at each point of a given trajectory, so that both have weight in the resulting behavior of the mobile. This is achieved by estimating their respective local efficiencies at each time instant and combining their commands into a single order. In order to achieve a seamless combination, this procedure is integrated into a bottom-up architecture via a reactive layer. The system is meant to be used in wheelchair control for people with disabilities. Thus far, we have tested the proposed method using a Pioneer AT robot driven by several volunteers. Results have been satisfactory both from a quantitative and qualitative point of view. ©2007 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
