Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control
Identifieur interne : 000130 ( France/Analysis ); précédent : 000129; suivant : 000131Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control
Auteurs : Carlo Masone [Allemagne] ; Paolo Robuffo Giordano [France] ; Heinrich H. Bülthoff [Allemagne] ; Antonio Franchi [France]Source :
Abstract
A new framework for semi-autonomous path plan- ning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.
Url:
Affiliations:
- Allemagne, France
- Région Bretagne
- Lorient, Rennes
- Société Max-Planck, Université de Bretagne-Sud, Université de Rennes 1, Université européenne de Bretagne
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Hal:hal-00949184Le document en format XML
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Bülthoff</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-83432" status="VALID"><orgName>Max Planck Institute for Biological Cybernetics</orgName><orgName type="acronym">MPI</orgName><desc><address><addrLine>Spemannstr. 44 72076 Tuebingen Germany</addrLine><country key="DE"></country></address><ref type="url">http://www.kyb.mpg.de/</ref></desc><listRelation><relation active="#struct-300044" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300044" type="direct"><org type="institution" xml:id="struct-300044" status="VALID"><orgName>Max-Planck-Institut</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Allemagne</country><orgName type="university">Société Max-Planck</orgName></affiliation></author><author><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-392741" status="VALID"><orgName>Équipe Robotique et InteractionS </orgName><orgName type="acronym">LAAS-RIS</orgName><desc><address><addrLine> </addrLine><country key="FR"></country></address><ref type="url">https://www.laas.fr/public/fr/ris</ref></desc><listRelation><relation active="#struct-459" type="direct"></relation><relation active="#struct-5030" type="indirect"></relation><relation active="#struct-116255" type="indirect"></relation><relation active="#struct-301232" type="indirect"></relation><relation active="#struct-217752" type="indirect"></relation><relation name="UPR8001" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-459" type="direct"><org type="laboratory" xml:id="struct-459" status="VALID"><orgName>Laboratoire d'analyse et d'architecture des systèmes [Toulouse]</orgName><orgName type="acronym">LAAS</orgName><desc><address><addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine><country key="FR"></country></address><ref type="url">http://www.laas.fr</ref></desc><listRelation><relation active="#struct-5030" type="direct"></relation><relation active="#struct-116255" type="direct"></relation><relation active="#struct-301232" type="indirect"></relation><relation active="#struct-217752" type="direct"></relation><relation name="UPR8001" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-5030" type="indirect"><org type="institution" xml:id="struct-5030" status="VALID"><orgName>Institut National Polytechnique [Toulouse]</orgName><orgName type="acronym">INP</orgName><desc><address><addrLine>6 allée Émile Monso - BP 34038 - 31029 Toulouse cedex 4</addrLine><country key="FR"></country></address><ref type="url">http://www.inp-toulouse.fr/</ref></desc></org></tutelle><tutelle active="#struct-116255" type="indirect"><org type="department" xml:id="struct-116255" status="VALID"><orgName>Institut National des Sciences Appliquées - Toulouse</orgName><orgName type="acronym">INSA Toulouse</orgName><desc><address><addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine><country key="FR"></country></address><ref type="url">http://www.insa-toulouse.fr</ref></desc><listRelation><relation active="#struct-301232" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-301232" type="indirect"><org type="institution" xml:id="struct-301232" status="VALID"><orgName>Institut National des Sciences Appliquées</orgName><orgName type="acronym">INSA</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-217752" type="indirect"><org type="institution" xml:id="struct-217752" status="VALID"><orgName>Université Paul Sabatier - Toulouse 3</orgName><orgName type="acronym">UPS</orgName><desc><address><addrLine>118 route de Narbonne - 31062 Toulouse</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-tlse3.fr/</ref></desc></org></tutelle><tutelle name="UPR8001" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A new framework for semi-autonomous path plan- ning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces.</div></front></TEI><affiliations><list><country><li>Allemagne</li><li>France</li></country><region><li>Région Bretagne</li></region><settlement><li>Lorient</li><li>Rennes</li></settlement><orgName><li>Société Max-Planck</li><li>Université de Bretagne-Sud</li><li>Université de Rennes 1</li><li>Université européenne de Bretagne</li></orgName></list><tree><country name="Allemagne"><noRegion><name sortKey="Masone, Carlo" sort="Masone, Carlo" uniqKey="Masone C" first="Carlo" last="Masone">Carlo Masone</name></noRegion><name sortKey="Bulthoff, Heinrich H" sort="Bulthoff, Heinrich H" uniqKey="Bulthoff H" first="Heinrich H." last="Bülthoff">Heinrich H. Bülthoff</name></country><country name="France"><region name="Région Bretagne"><name sortKey="Robuffo Giordano, Paolo" sort="Robuffo Giordano, Paolo" uniqKey="Robuffo Giordano P" first="Paolo" last="Robuffo Giordano">Paolo Robuffo Giordano</name></region><name sortKey="Franchi, Antonio" sort="Franchi, Antonio" uniqKey="Franchi A" first="Antonio" last="Franchi">Antonio Franchi</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|wiki= Ticri/CIDE
|area= HapticV1
|flux= France
|étape= Analysis
|type= RBID
|clé= Hal:hal-00949184
|texte= Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic Shared Control
}}
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