Abstract
We address the problem of teleoperating a mobile robot using shared autonomy: an on-board controller performs obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. We describe a strategy to convert such range information into forces, which are reflected to the operator's hand, via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population show that the added haptic feedback significantly improves operator performance in several ways (reduced collisions, increased minimum distance between the robot and obstacles) without a significant increase in navigation time.
| Original language | English (US) |
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| Pages | 2867-2874 |
| Number of pages | 8 |
| State | Published - 2002 |
| Externally published | Yes |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002 |
Conference
| Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 9/30/02 → 10/4/02 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications