Abstract:In this paper, a novel bilateral shared control approach is proposed to address the issue of strong dependence on the human, and the resulting burden of manipulation, in classical haptic teleoperation systems for vehicle navigation. A Hidden Markov Model (HMM) is utilized to handle the Human Intention Recognition (HIR), according to the force input by the human—including the HMM solution, i.e., Baum–Welch algorithm, and HMM decoding, i.e., Viterbi algorithm—and the communication delay in teleoperation systems … Show more
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