Towards a Shared Control Navigation Function: Efficiency Based Command Modulation [chapter]

Manuel Fernández-Carmona, José Manuel Peula, Cristina Urdiales, Francisco Sandoval
2015 Lecture Notes in Computer Science  
This paper presents a novel shared control algorithm for robotized wheelchairs. The proposed algorithm is a new method to extend autonomous navigation techniques into the shared control domain. It reactively combines user's and robot's commands into a continuous function that approximates a classic Navigation Function (NF) by weighting input commands with NF constraints. Our approach overcomes the main drawbacks of NFs -calculus complexity and limitations on environment modeling-so it can be
more » ... d in dynamic unstructured environments. It also benefits from NF properties: convergence to destination, smooth paths and safe navigation. Due to the user's contribution to control, our function is not strictly a NF, so we call it a pseudo-navigation function (PNF) instead.
doi:10.1007/978-3-319-19258-1_16 fatcat:l43ipvgp2jd7vnvmksy2pyyy5u