Blended Shared Control of Zermelos Navigation ProblemReportar como inadecuado

Blended Shared Control of Zermelos Navigation Problem

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Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator.In practice, the operator assumes responsibility for completinga given task at maximum utility, even though the optimal inputsmay be unknown to the operator. Here we introduce a simple technique termed Blended Shared Control, whereby the human operator commands are continually merged with the commands of a robotic agent. This approach is shown to result in a lowertask completion time than manual control alone when appliedto a problem motivated by Zermelo’s navigation problem. Experimental results are presented to compare blended shared control to other types of controllers including manual control, heads up display, and haptic feedback. Trials indicate that the shared control does in fact decrease task completion time when compared to fully manual operation.

Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -

Autor: Enes, Aaron R. - Book, Wayne John - -


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