VFH+を用いた遠隔操作移動ロボットの共有制御
VFH+ based shared control for remotely operated mobile robots
VFH+による障害物回避と操作者の遠隔操作指令を融合する共有制御手法を提案し、災害対応シナリオで安全性とタスク完了時間の改善を示した。
著者: Pantelis Pappas, Manolis Chiou, Georgios-Theofanis Epsimos, Grigoris Nikolaou, Rustam Stolkin
分類: cs.RO, cs.HC, cs.SY, eess.SY
原文アブストラクト
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which blends the commands from a VFH+ obstacle avoidance navigation module with the teleoperation commands provided by an operator via a joypad. The presented approach offers several advantages such as flexibility allowing for a straightforward adaptation of the controller's behaviour and easy integration with variable autonomy systems; as well as the ability to cope with dynamic environments. The advantages of the presented controller are demonstrated by an experimental evaluation in a disaster response scenario. More specifically, presented evidence show a clear performance increase in terms of safety and task completion time compared to a pure teleoperation approach, as well as an ability to cope with previously unobserved obstacles.
