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

David Sanders; Benjamin Sanders; Alexander Gegov; David Ndzi

doi:10.1109/IntelliSys.2017.8324255

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

David Sanders, Benjamin Sanders, Alexander Gegov, David Ndzi

School of Computing

Peter Symonds College

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

250 Downloads (Pure)

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 language	English
Title of host publication	2017 Intelligent Systems Conference (IntelliSys)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1026-1033
Number of pages	8
ISBN (Electronic)	978-1509064359
ISBN (Print)	978-1509064366
DOIs	https://doi.org/10.1109/IntelliSys.2017.8324255
Publication status	Published - 26 Mar 2018
Event	2017 Intelligent Systems Conference - America Square Conference Center, London, United Kingdom Duration: 7 Sept 2017 → 8 Sept 2017 http://www.saiconference.com/IntelliSys

Conference

Conference	2017 Intelligent Systems Conference
Abbreviated title	IntelliSys 2017
Country/Territory	United Kingdom
City	London
Period	7/09/17 → 8/09/17
Internet address	http://www.saiconference.com/IntelliSys

Keywords

mobile robots
acoustics
robot sensing systems
sensor systems
wheels

Access to Document

10.1109/IntelliSys.2017.8324255

Pure_2017_IntelliSys_Using_confidence_factors
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Accepted author manuscript (Post-print), 860 KB

http://ieeexplore.ieee.org/document/8324255

Ways of assisting with tele-operation (Third research Project)
Sanders, D. (PI), Chiverton, J. (CoI) & Vuksanovic, B. (CoI)
14/04/16 → …
Project: Research

2017 Intelligent Systems Conference
Sanders, D. (Presented paper)
7 Sept 2017 → 8 Sept 2017
Activity: Participating in or organising an event types › Participation in conference

Cite this

@inproceedings{b1799ce81e7a415b8cd5738c66ce9644,

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

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.",

keywords = "mobile robots, acoustics, robot sensing systems, sensor systems, wheels",

author = "David Sanders and Benjamin Sanders and Alexander Gegov and David Ndzi",

year = "2018",

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doi = "10.1109/IntelliSys.2017.8324255",

language = "English",

isbn = "978-1509064366",

pages = "1026--1033",

booktitle = "2017 Intelligent Systems Conference (IntelliSys)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2017 Intelligent Systems Conference, IntelliSys 2017 ; Conference date: 07-09-2017 Through 08-09-2017",

url = "http://www.saiconference.com/IntelliSys",

}

Sanders, D, Sanders, B, Gegov, A & Ndzi, D 2018, Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors. in 2017 Intelligent Systems Conference (IntelliSys). Institute of Electrical and Electronics Engineers Inc., pp. 1026-1033, 2017 Intelligent Systems Conference, London, United Kingdom, 7/09/17. https://doi.org/10.1109/IntelliSys.2017.8324255

Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors. / Sanders, David; Sanders, Benjamin; Gegov, Alexander et al.
2017 Intelligent Systems Conference (IntelliSys). Institute of Electrical and Electronics Engineers Inc., 2018. p. 1026-1033.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - 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.

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KW - acoustics

KW - robot sensing systems

KW - sensor systems

KW - wheels

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ER -

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

Abstract

Conference

Keywords

Access to Document

Fingerprint

Projects

Ways of assisting with tele-operation (Third research Project)

Activities

2017 Intelligent Systems Conference

Cite this