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

Abstract

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.

Haptic guided UAV for detection of radiation sources in outdoor environments

“…Haptic interfaces have been studied for collision avoidance in teleoperation tasks of aerial vehicles [7], [20], [12], [5], [14], [2], [11], [19], [10]. Lam et al [7] investigated artificial force fields for the generation of haptic feedback in UAV teleoperation in simulated scenarios.…”

Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots

“…In the work presented in [10] (see Figure 3 for an illustration of this scheme) this consideration is taken into account and the collaboration is shifted directly at the planning level by letting the human operator control the planned path for a given future (and non-negligible) time horizon. First, the operator is in charge of modifying online the shape of a planned path with a haptic interface (e.g., by changing the location of some control points).…”

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

“…To reduce the burden of directly driving the robot, the paper [24] has proposed a semi-autonomous algorithm at the planning level. Furthermore, a reactive planning approach to bilaterally teleoperate an Unmanned Aerial Vehicle (UAV) has been presented in [25]. Therein the human operator is allowed to modify the path and an autonomous feedback controller is used to assist the human in reaching the target position.…”