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

Carlo Masone, Paolo Robuffo Giordano, Heinrich Bulthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 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 publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6468-6475
Number of pages8
DOIs
Publication statusPublished - 2014 Sep 22
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Masone, C., Giordano, P. R., Bulthoff, H., & Franchi, A. (2014). Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6468-6475). [6907814] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907814