Authors:
Sousso Kelouwani
;
Patrice Boucher
and
Paul Cohen
Affiliation:
Édouard-Montpetit Campus de l’Université de Montreál, Canada
Keyword(s):
Motorized wheelchair, Robotic architecture, Shared control, Three-layer architecture, Collaborative control.
Related
Ontology
Subjects/Areas/Topics:
Biomedical Engineering
;
Development of Assistive Technology
;
Distributed and Mobile Software Systems
;
Health Engineering and Technology Applications
;
Health Information Systems
;
Human-Machine Interfaces for Disabled Persons
;
ICT, Ageing and Disability
;
Mobile Technologies
;
Mobile Technologies for Healthcare Applications
;
Neural Rehabilitation
;
Neurotechnology, Electronics and Informatics
;
Practice Based Research Methods for Assistive Technology
;
Software Engineering
Abstract:
Various situations of mobile platform navigation controls require a collaboration between a human agent and autonomous navigation modules. This work presents a new approach for collaborative control between such two agents, based upon a three-layer architecture. An arbitration scheme is proposed in the deliberative layer as well as a collaborative planning method for trajectory following based upon optimal control theory in the sequencer layer. The collaborative control signal in the execution layer is a weighted summation of each agent control signal. This collaborative architecture could be used for the shared control of vehicles such as motorized wheelchairs. Experimental results illustrate the efficiency of the proposed control architecture.