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| Author(s): |
Valdir Grassi Júnior
Total Authors: 1
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| Document type: | Doctoral Thesis |
| Press: | São Paulo. |
| Institution: | Universidade de São Paulo (USP). Escola Politécnica (EP/BC) |
| Defense date: | 2006-05-19 |
| Examining board members: |
Jun Okamoto Junior;
Teodiano Freire Bastos Filho;
Mario Fernando Montenegro Campos;
Glauco Augusto de Paula Caurin;
Anna Helena Reali Costa
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| Advisor: | Jun Okamoto Junior |
| Abstract | |
There are some applications in mobile robotics that require human user interaction besides the autonomous navigation control of the robot. For these applications, in a semi-autonomous control mode, the human user can locally modify the autonomous pre-planned robot trajectory by sending continuous commands to the robot. In this case, independently from the user\'s commands, the intelligent control system must continuously avoid collisions, modifying the user\'s commands if necessary. This approach creates a safety navigation system that can be used in robotic wheelchairs and manned robotic vehicles where the human safety must be guaranteed. A control system with those characteristics should be based on a suitable mobile robot architecture. This architecture must integrate the human user\'s commands with the autonomous control layer of the system which is responsible for avoiding static and dynamic obstacles and for driving the robot to its navigation goal. In this work we propose a hybrid (deliberative/reactive) mobile robot architecture with human interaction. This architecture was developed mainly for navigation tasks and allows the robot to be operated on different levels of autonomy. The user can share the robot control with the system while the system ensures the user and robot\'s safety. In this architecture, a navigation function is used for representing the robot\'s navigation plan. We propose a method for combining the deliberative behavior responsible for executing the navigation plan, with the reactive behaviors defined to be used while navigating, and with the continuous human user\'s inputs. The intelligent control system defined by the proposed architecture was implemented in a robotic wheelchair, and we present some experimental results of the chair operating on different autonomy modes. (AU) | |