Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots

Kun Qian, Dan Niu, Fang Fang, Xudong Ma

Abstract

In this paper, a novel human-robot shared control approach is proposed to solve the problem of semi-autonomous mobile robot navigation with the spatial constraints of maintaining reliable Wi-Fi connection. In particular, the presented approach benefits from using Gaussian Process Regression method to learn the distribution of indoor Wi-Fi signal strength (WSS) and to fuse it with the environmental occupancy probability. The resulting WSS-Occupancy hybrid map is further utilized for generating paths that prevent the robot from violating the spatial restriction. A shared control strategy is designed to implement the WSS-aware navigation behaviour. The approach is evaluated by both simulation and real-world experiments, in which the results validate the practicability and effectiveness of the approach.

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Paper Citation


in Harvard Style

Qian K., Niu D., Ma X. and Fang F. (2017). Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 201-208. DOI: 10.5220/0006382902010208


in Bibtex Style

@conference{icinco17,
author={Kun Qian and Dan Niu and Xudong Ma and Fang Fang},
title={Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006382902010208},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots
SN - 978-989-758-264-6
AU - Qian K.
AU - Niu D.
AU - Ma X.
AU - Fang F.
PY - 2017
SP - 201
EP - 208
DO - 10.5220/0006382902010208