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

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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)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)978-1509064359
ISBN (Print)978-1509064366
Publication statusPublished - 26 Mar 2018
Event2017 Intelligent Systems Conference - America Square Conference Center, London, United Kingdom
Duration: 7 Sept 20178 Sept 2017


Conference2017 Intelligent Systems Conference
Abbreviated titleIntelliSys 2017
Country/TerritoryUnited Kingdom
Internet address


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


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