TY - GEN
T1 - Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control
AU - Masone, Carlo
AU - Giordano, Paolo Robuffo
AU - Bülthoff, Heinrich H.
AU - Franchi, Antonio
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84929208240&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907814
DO - 10.1109/ICRA.2014.6907814
M3 - Conference contribution
AN - SCOPUS:84929208240
SN - 978-1-4799-3685-4
T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
SP - 6468
EP - 6475
BT - 2014 IEEE International Conference on Robotics and Automation (ICRA)
PB - IEEE
CY - Piscataway, NJ
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -
