Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors

David Sanders, Benjamin Sanders, Alexander Gegov, David Ndzi

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

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Abstract

A system is presented that shares control between ultrasonic sensors, a tele-operator and a mobile robot. The mobile robot can be directed by the tele-operator, or by ultrasonic sensors, or they can share control. The mobile robot system can change direction if there are obstacles ahead or if it is helpful. Sharing control allows a human tele-operator to drive efficiently and safely. Controller gains are set automatically for a human tele-operator and the ultrasonic sensor system by calculating a confidence factor for the mobile robot tele-operator. The ultrasonic sensor system can assist a human tele-operator in driving the mobile robot to offset for shortcomings, for example the tele-operator may not be able to see the mobile robot or the human tele-operator may be tired. Finally, some testing is described to validate the proposed methods.
Original languageEnglish
Title of host publication2017 Intelligent Systems Conference (IntelliSys)
PublisherIEEE
Pages1026-1033
Number of pages8
ISBN (Electronic)978-1509064359
ISBN (Print)978-1509064366
DOIs
Publication statusPublished - 26 Mar 2018
Event2017 Intelligent Systems Conference - America Square Conference Center, London, United Kingdom
Duration: 7 Sep 20178 Sep 2017
http://www.saiconference.com/IntelliSys

Conference

Conference2017 Intelligent Systems Conference
Abbreviated titleIntelliSys 2017
Country/TerritoryUnited Kingdom
CityLondon
Period7/09/178/09/17
Internet address

Keywords

  • mobile robots
  • acoustics
  • robot sensing systems
  • sensor systems
  • wheels

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