VFH+ based shared control for remotely operated mobile robots

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

Authors

Colleges, School and Institutes

External organisations

  • University of Birmingham
  • Extreme Robotics Lab
  • University of West Attica

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.

Bibliographic 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. Publisher Copyright: © 2020 IEEE. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.

Details

Original languageEnglish
Title of host publication2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020
EditorsLino Marques, Majid Khonji, Jorge Dias
Publication statusPublished - 4 Nov 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

Name2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020

Conference

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