VFH+ based shared control for remotely operated mobile robots

Pantelis Pappas, Manolis Chiou, Georgios Theofanis Epsimos, Grigoris Nikolaou, Rustam Stolkin

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

Abstract

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which blends the commands from a VFH+ obstacle avoidance navigation module with the teleoperation commands provided by an operator via a joypad. The presented approach offers several advantages such as flexibility allowing for a straightforward adaptation of the controller's behaviour and easy integration with variable autonomy systems; as well as the ability to cope with dynamic environments. The advantages of the presented controller are demonstrated by an experimental evaluation in a disaster response scenario. More specifically, presented evidence show a clear performance increase in terms of safety and task completion time compared to a pure teleoperation approach, as well as an ability to cope with previously unobserved obstacles.

Original languageEnglish
Title of host publication2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
EditorsLino Marques, Majid Khonji, Jorge Dias
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages366-373
Number of pages8
ISBN (Electronic)9780738111230
ISBN (Print)9781665403900
DOIs
Publication statusPublished - 29 Dec 2020
Event2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020 - Abu Dhabi, United Arab Emirates
Duration: 4 Nov 20206 Nov 2020

Publication series

NameIEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)

Conference

Conference2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period4/11/206/11/20

Bibliographical note

Funding Information:
This work was supported by the following grants of UKRI-EPSRC: EP/P017487/1 (Remote Sensing in Extreme Environments); EP/R02572X/1 (National Centre for Nuclear Robotics); EP/P01366X/1 (Robotics for Nuclear Environments). Stolkin was also sponsored by a Royal Society Industry Fellowship.

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Safety Research

Fingerprint

Dive into the research topics of 'VFH+ based shared control for remotely operated mobile robots'. Together they form a unique fingerprint.

Cite this