Title:
Blended Shared Control of Zermelo's Navigation Problem
Blended Shared Control of Zermelo's Navigation Problem
Author(s)
Enes, Aaron R.
Book, Wayne J.
Book, Wayne J.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator.
In practice, the operator assumes responsibility for completing
a given task at maximum utility, even though the optimal inputs
may be unknown to the operator. Here we introduce a simple technique termed Blended Shared Control, whereby the human operator commands are continually merged with the commands of a robotic agent. This approach is shown to result in a lower
task completion time than manual control alone when applied
to a problem motivated by Zermelo’s navigation problem. Experimental results are presented to compare blended shared control to other types of controllers including manual control, heads up display, and haptic feedback. Trials indicate that the shared control does in fact decrease task completion time when compared to fully manual operation.
Sponsor
Date Issued
2010
Extent
Resource Type
Text
Resource Subtype
Proceedings
Post-print
Post-print