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 language | English |
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Title of host publication | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) |
Editors | Lino Marques, Majid Khonji, Jorge Dias |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 366-373 |
Number of pages | 8 |
ISBN (Electronic) | 9780738111230 |
ISBN (Print) | 9781665403900 |
DOIs | |
Publication status | Published - 29 Dec 2020 |
Event | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020 - Abu Dhabi, United Arab Emirates Duration: 4 Nov 2020 → 6 Nov 2020 |
Publication series
Name | IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) |
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Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Conference
Conference | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020 |
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Country/Territory | United Arab Emirates |
City | Abu Dhabi |
Period | 4/11/20 → 6/11/20 |
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