A collaborative-shared control system with safe obstacle avoidance capability
A collaborative-shared control system with safe obstacle avoidance capability
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DOI：
10.1109/ramech.2004.1438902
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发表时间：
2004-12
期刊：
影响因子：
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通讯作者：
Jian Shen;J. Guzman;T. Ng;B. S. Chew
中科院分区：
文献类型：
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作者：
Jian Shen;J. Guzman;T. Ng;B. S. Chew
远程操作系统使人类能够扩展他们的身体能力，使他们能够干预危险的操作或他们不可能在场的地方。然而，这种系统的长期运作已证明是困难和紧张的。因此，促进其使用的手段是许多研究和实验工作的主题。在本文中，我们提出了一种协作共享控制策略，结合了操作员的能力与机器人为基础的任务，使这些系统更加灵活和强大。在我们的方法中，协同控制组件负责允许操作员干预时，机器人面临复杂的情况下，而共享的控制组件提供了一个自动控制机制，以协助和监测纠正不合理的操作员的行动。本文演示了如何协同和共享的控制策略一起工作，以促进在一个混乱的环境中的移动的平台的遥控控制。实验结果包括应用程序的监视和搜索和救援行动。此外，在一个混合避障模块的形式的关键组成部分介绍，允许机器人在一个任务的基础上，由操作员在一定的距离进行指导。
Tele-operated systems allow humans to extend their physical capabilities and enable them to intervene in hazardous operations or where their presence is not possible. However, the operation of such systems over long periods has proved to be difficult and stressful. Consequently, means to facilitate their use are the subject of much study and experimental work. In this paper, we propose a collaborative-shared control strategy that combines the operator abilities with robotic-based tasks to render these systems more flexible and robust. In our method, the collaborative control component is responsible for allowing operator intervention when the robot is facing complex situations, whilst the shared control component provides an automatic control mechanism to assist and to monitor-correct irrational operator actions. The paper demonstrates how collaborative and shared control strategies work together to facilitate the teleoperated control of a mobile platform in a cluttered environment. The experimental results include applications to surveillance and to search & rescue operations. In addition, a key component in the form of a hybrid obstacle avoidance module is introduced that allows the robot to be guided on a task basis by the operator at a distance.