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

Carlo Masone; Paolo Robuffo Giordano; Heinrich H. Bulthoff; Antonio Franchi

doi:10.1109/ICRA.2014.6907814

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

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

Research output: Contribution to journal › Conference article › peer-review

42 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 language	English
Article number	6907814
Pages (from-to)	6468-6475
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6907814
Publication status	Published - 2014 Sept 22
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907814

Cite this

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title = "Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control",

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.",

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AU - Masone, Carlo

AU - Giordano, Paolo Robuffo

AU - Bulthoff, Heinrich H.

AU - Franchi, Antonio

PY - 2014/9/22

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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.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

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Y2 - 31 May 2014 through 7 June 2014

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

Abstract

Bibliographical note

ASJC Scopus subject areas

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