5 May 2017 Safeguarding autonomy through intelligent shared control
Author Affiliations +
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
© (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jared Giesbrecht, Jared Giesbrecht, Ho-Kong Ng, Ho-Kong Ng, Mingfeng Zhang, Mingfeng Zhang, John Tang, John Tang, Michel Bondy, Michel Bondy, Piotr Jasiobedzki, Piotr Jasiobedzki, } "Safeguarding autonomy through intelligent shared control", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950V (5 May 2017); doi: 10.1117/12.2262025; https://doi.org/10.1117/12.2262025

Back to Top