Soheil Gholami
A shared-autonomy approach to goal detection and navigation control of mobile collaborative robots
Gholami, Soheil; Ruiz Garate, Virginia; De Momi, Elena; Ajoudani, Arash
Authors
Virginia Ruiz Garate
Elena De Momi
Arash Ajoudani
Abstract
Autonomous goal detection and navigation control of mobile robots in remote environments can help to unload human operators from simple, monotonous tasks allowing them to focus on more cognitively stimulating actions. This can result in better task performances, while creating user-interfaces that are understandable by non-experts. However, full autonomy in unpredictable and dynamically changing environments is still far from becoming a reality. Thus, teleoperated systems integrating the supervisory role and instantaneous decision-making capacity of humans are still required for fast and reliable robotic operations. This work presents a novel shared-autonomy framework for goal detection and navigation control of mobile manipulators. The controller exploits human-gaze information to estimate the desired goal. This is used together with control-pad data to predict user intention, and to activate the autonomous control for executing a target task. Using the control-pad device, a user can react to unexpected disturbances and halt the autonomous mode at any time. By releasing the control-pad device (e.g., after avoiding an instantaneous obstacle) the controller smoothly switches back to the autonomous mode and navigates the robot towards the target. Experiments for reaching a target goal in the presence of unknown obstacles are carried out to evaluate the performance of the proposed shared-autonomy framework over seven subjects. The results prove the accuracy, time-efficiency, and ease-of-use of the presented shared-autonomy control framework.
Citation
Gholami, S., Ruiz Garate, V., De Momi, E., & Ajoudani, A. (in press). A shared-autonomy approach to goal detection and navigation control of mobile collaborative robots. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (1026-1032). https://doi.org/10.1109/ro-man47096.2020.9223583
Conference Name | 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) |
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Conference Location | Naples, Italy |
Start Date | Aug 31, 2020 |
End Date | Sep 4, 2020 |
Acceptance Date | Jun 27, 2020 |
Online Publication Date | Oct 14, 2020 |
Deposit Date | Mar 10, 2021 |
Pages | 1026-1032 |
Series ISSN | 1944-9437 |
Book Title | 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) |
ISBN | 9781728160764 |
DOI | https://doi.org/10.1109/ro-man47096.2020.9223583 |
Public URL | https://uwe-repository.worktribe.com/output/7033357 |
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