Skip to main content
×
Home

Obstacle avoidance control of a human-in-the-loop mobile robot system using harmonic potential fields

  • C. Ton (a1), Z. Kan (a2) and S. S. Mehta (a3)
Summary
SUMMARY

This paper considers applications where a human agent is navigating a semi-autonomous mobile robot in an environment with obstacles. The human input to the robot can be based on a desired navigation objective, which may not be known to the robot. Additionally, the semi-autonomous robot can be programmed to ensure obstacle avoidance as it navigates the environment. A shared control architecture can be used to appropriately fuse the human and the autonomy inputs to obtain a net control input that drives the robot. In this paper, an adaptive, near-continuous control allocation function is included in the shared controller, which continuously varies the control effort exerted by the human and the autonomy based on the position of the robot relative to obstacles. The developed control allocation function facilitates the human to freely navigate the robot when away from obstacles, and it causes the autonomy control input to progressively dominate as the robot approaches obstacles. A harmonic potential field-based non-linear sliding mode controller is developed to obtain the autonomy control input for obstacle avoidance. In addition, a robust feed-forward term is included in the autonomy control input to maintain stability in the presence of adverse human inputs, which can be critical in applications such as to prevent collision or roll-over of smart wheelchairs due to erroneous human inputs. Lyapunov-based stability analysis is presented to guarantee finite-time stability of the developed shared controller, i.e., the autonomy guarantees obstacle avoidance as the human navigates the robot. Experimental results are provided to validate the performance of the developed shared controller.

Copyright
Corresponding author
*Corresponding author. E-mail: chau.t.ton@gmail.com
References
Hide All
1. Sheridan T. B., “Telerobotics,” Automatica 25 (4), 487507 (1989).
2. Sheridan T. B., Telerobotics, Automation, and Human Supervisory Control (MIT Press, Cambridge, MA, USA, 1992).
3. Ding X. C., Powers M., Egerstedt M., Young S. Yih and Balch T., “Executive decision support,” IEEE Robot. Autom. Mag. 16 (2), 7381 (2009).
4. Nudehi S., Mukherjee R. and Ghodoussi M., “A shared-control approach to haptic interface design for minimally invasive telesurgical training,” IEEE Trans. Control Syst. Technol. 13 (4), 588592 (2005).
5. Kim J., Ladjal H., Folio D., Ferreira A. and Kim J., “Evaluation of telerobotic shared control strategy for efficient single-cell manipulation,” IEEE Trans. Autom. Sci. Eng. 9 (2), 402406 (2012).
6. Lee S. and Lee H. S., “Modeling, design, and evaluation of advanced teleoperator control systems with short time delay,” IEEE Trans. Robot. Autom. 9 (5), 607623 (1993).
7. Kofman J., Wu X., Luu T. and Verma S., “Teleoperation of a robot manipulator using a vision-based human-robot interface,” IEEE Trans. Ind. Electron. 52 (5), 12061219 (2005).
8. Griffin W., Provancher W. and Cutkosky M., “Feedback strategies for telemanipulation with shared control of object handling forces,” Presence 14 (6), 720731 (2005).
9. Franchi A., Secchi C., Ryll M., Bulthoff H. and Giordano P., “Shared control : Balancing autonomy and human assistance with a group of quadrotor UAVs,” IEEE Robot. Autom. Mag. 19 (3), 5768 (2012).
10. Aigner P. and McCarragher B., “Shared control framework applied to a robotic aid for the blind,” IEEE Control Syst. 19 (2), 4046 (1999).
11. Aigner P. and McCarragher B. J., “Modeling and constraining human interactions in shared control utilizing a discrete event framework,” IEEE Trans. Man Cybern. Part A: Syst. Humans 30 (3), 369379 (2000).
12. Cooper R., Corfman T., Fitzgerald S., Boninger M., Spaeth D., Ammer W. and Arva J., “Performance assessment of a pushrim-activated power-assisted wheelchair control system,” IEEE Trans. Control Syst. Technol. 10 (1), 121126 (2002).
13. Cipriani C., Zaccone F., Micera S. and Carrozza M., “On the shared control of an EMG-controlled prosthetic hand: Analysis of user-prosthesis interaction,” IEEE Trans. Robot. 24 (1), 170184 (2008).
14. Yu H., Spenko M. and Dubowsky S., “An adaptive shared control system for an intelligent mobility aid for the elderly,” Auton. Robots 15 (1), 5366 (2003).
15. Urdiales C., Peula J. M., Fdez-Carmona M., Barrué C., Pérez E. J., Sánchez-Tato I., Toro J. C., Galluppi F., Cortés U., Annichiaricco R., Caltagirone C. and Sandoval F., “A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation,” Auton. Robots 30 (2), 179197 (2010).
16. Wang H. and Liu X., “Adaptive shared control for a novel mobile assistive robot,” IEEE/ASME Trans. Mechatronics 19 (6), 17251736 (2014).
17. Kim H., Biggs J., Schloerb D. W., Carmena J., Lebedev M., Nicolelis M. and Srinivasan M., “Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces,” IEEE Trans. Biomed. Eng. 53 (6), 11641173 (2006).
18. Borenstein J. and Koren Y., “Teleautonomous guidance for mobile robots,” IEEE Trans. Syst. Man Cybern. 20 (6), 14371443 (1990).
19. Venkataraman S. and Hayati S., “Shared/traded control of telerobots under time delay,” Comput. Electr. Eng. 19 (6), 481494 (1993).
20. Hirzinger G., Brunner B., Dietrich J. and Heindl J., “Sensor-based space robotics-rotex and its telerobotic features,” IEEE Trans. Robot. Autom. 9 (5), 649663 (1993).
21. Fong T. W., Thorpe C. and Baur C., “A Safeguarded Teleoperation Controller,” Proceedings of the IEEE International Conference on Advanced Robotics, Budapest, Hungary (2001).
22. Bruemmer D., Few D., Boring R., Marble J., Walton M. and Nielsen C., “Shared understanding for collaborative control,” IEEE Trans. Man Cybern. Part A: Syst. Humans 35 (4), 494504 (2005).
23. Khademian B. and Hashtrudi-Zaad K., “Performance Issues in Collaborative Haptic Training,” Proceedings of the IEEE International Conference on Robotics and Automation (2007) pp. 3257–3262.
24. Khademian B. and Hashtrudi-Zaad K., “Shared control architectures for haptic training: Performance and coupled stability analysis,” Int. J. Robot. Res. 30 (13), 16271642 (2011).
25. Khademian B., Apkarian J. and Hashtrudi-Zaad K., “Assessment of environmental effects on collaborative haptic guidance,” Presence 20 (3), 191206 (2011).
26. Khademian B. and Hashtrudi-Zaad K., “Dual-user teleoperation systems: New multilateral shared control architecture and kinesthetic performance measures,” IEEE/ASME Trans. Mechatronics 17 (5), 895906 (2012).
27. Powell D. and O'Malley M., “The task-dependent efficacy of shared control haptic guidance paradigms,” IEEE Trans. Haptics 5 (3), 208219 (2012).
28. Song K. T., Jiang S. Y. and Lin M. H.. “Interactive teleoperation of a mobile manipulator using a shared-control approach,” IEEE Trans. Human-Mach. Syst. 46 (6), 834845 (2016).
29. Hansson A. and Servin M., “Semi-autonomous shared control of large-scale manipulator arms,” Control Eng. Pract. 18 (9), 10691076 (2010).
30. Poncela A., Urdiales C., Perez E. and Sandoval F., “A new efficiency weighted strategy for continuous human/robot cooperation in navigation,” IEEE Trans. Syst. Man Cybern. Part A: Syst. Humans 39 (3), 486500 (2009).
31. Ren W. and Beard R., “Satisficing Approach to Human-in-the-Loop Safeguarded Control,” Proceedings of the American Control Conference, Portland, OR, USA (2005) pp. 4985–4990.
32. Jiang J. and Astolfi A., “Shared-Control for the Kinematic Model of a Mobile Robot,” Proceedings of the IEEE 53rd Annual Conference on Decision and Control, Los Angeles, CA, USA (2014) pp. 62–67.
33. Jiang J., Di Franco P. and Astolfi A.. “Shared control for the kinematic and dynamic models of a mobile robot,” IEEE Trans. Control Syst. Technol. 24 (6), 21122124 (2016).
34. Jiang J. and Astolfi A., “State and output-feedback shared-control for a class of linear constrained systems,” IEEE Trans. Autom. Control 61 (10), 32093214 (2016).
35. Erlien S. M., Fujita S. and Gerdes J. C.. “Shared steering control using safe envelopes for obstacle avoidance and vehicle stability,” IEEE Trans. Intell. Transp. Syst. 17 (2), 441451 (2016).
36. Storms J. G. and Tilbury D. M., “Blending of Human and Obstacle Avoidance Control for a High Speed Mobile Robot,” Proceedings of the American Control Conference, Portland, OR, USA (2014) pp. 3488–3493.
37. Jiang S. Y., Lin C. Y., Huang K. T. and Song K. T., “Shared control design of a walking-assistant robot,” IEEE Trans. Control Syst. Technol. 25 (6), 21432150 (2017).
38. Hayati S. and Venkataraman S., “Design and Implementation of a Robot Control System with Traded and Shared Control Capability,” Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, USA (1989) pp. 1310–1315.
39. Anderson S., Walker J. and Iagnemma K., “Experimental performance analysis of a homotopy-based shared autonomy framework,” IEEE Trans. Human-Mach. Syst. 44 (2), 190199 (2014).
40. Guldner J. and Utkin V., “Sliding mode control for gradient tracking and robot navigation using artificial potential fields,” IEEE Trans. Robot. Autom. 11 (2), 247254 (1995).
41. Wu Z., Hu G., Feng L., Wu J. and Liu S., “Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling,” Assembly Autom. 36 (3), 318332 (2016).
42. Wang Z., Lam J. and Burnham K. J., “Stability analysis and observer design for neutral delay systems,” IEEE Trans. Autom. Control 47 (3), 478483 (2002).
43. Hashimoto H., Harashima F., Utkin V., Krasnova S. and Kaliko I., “Sliding Mode Control and Potential Fields in Obstacle Avoidance,” Proceedings of European Control Conference, Groningen, Netherlands (1993) pp. 859–862.
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords:

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 16 *
Loading metrics...

Abstract views

Total abstract views: 86 *
Loading metrics...

* Views captured on Cambridge Core between 16th November 2017 - 13th December 2017. This data will be updated every 24 hours.