Safeguarding autonomy through intelligent shared control

Jared Giesbrecht; Ho-Kong Ng; Mingfeng Zhang; John Tang; Michel Bondy; Piotr Jasiobedzki

doi:10.1117/12.2262025

5 May 2017 Safeguarding autonomy through intelligent shared control

Jared Giesbrecht, Ho-Kong Ng, Mingfeng Zhang, John Tang, Michel Bondy, Piotr Jasiobedzki

Proceedings Volume 10195, Unmanned Systems Technology XIX; 101950V (2017) https://doi.org/10.1117/12.2262025
Event: SPIE Defense + Security, 2017, Anaheim, CA, United States

Abstract

This paper overviews the development and operator testing of a shared autonomy system for small unmanned ground vehicles operating in indoor environments. The project focused on creating driving assistance technologies to reduce the burden of performing low-level tasks when operating in cluttered or difficult areas by sharing control between the operator and the autonomous software. The system also provides a safety layer to prevent the robot from becoming disabled due to operator error or environmental hazards. Examples of developed behaviours include obstacle proximity warning, centering the vehicle through narrow doorways, wall following during long traversals, tip-over indicator, stair climbing aid, and retreat from communications loss. The hardware and software were integrated on a QinetiQ Talon IV robot and tested by military operators in a relevant environment.

Conference Presentation

Citation Download Citation

Jared Giesbrecht, Ho-Kong Ng, Mingfeng Zhang, John Tang, Michel Bondy, and Piotr Jasiobedzki "Safeguarding autonomy through intelligent shared control", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950V (5 May 2017); https://doi.org/10.1117/12.2262025

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