Shared-Control Architecture: concepts and experiments
نویسندگان
چکیده
An hybrid control architecture with reactive, deliberative, and cognitive components appropriate to human-oriented mobile robots is presented. The paper presents globally our control architecture and describes some of its modules in detail: local mapbuilding module, reactive control module and wheel ́s velocity controller. Some discussion is made concerning trajectory planning and path-tracking control. The architecture is under development and part of it has been tested in a motorized wheechair equipped with several sensors and a multimodal HMI (Human-Machine Interface). A joystick and a voice unit interface (VUI) are used to steer the wheelchair, giving accessibility to handicaped persons. In its actual stage, the wheelchair navigates autonomously, by means of simple voice commands (or commands issued by the joystick), avoiding static and moving obstacles (like humans moving around).
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