Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

Carlo Masone, Paolo Robuffo Giordano, Heinrich H. Bülthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

30 Citations (Scopus)

Abstract

A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages6468-6475
Number of pages8
ISBN (Print)978-1-4799-3685-4
DOIs
Publication statusPublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2014
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated titleICRA
CountryChina
CityHong Kong
Period31/05/147/06/14

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