A multi-path selecting navigation framework with human supervision

Peng Liu*, Guangming Xiong, Haojie Zhang, Yan Jiang, Jianwei Gong, Huiyan Chen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Robotic navigation remains one of the fundamental problems of mobile robotics, especially when some uncertain variables need to be considered. The cost function of the path planning algorithm cannot always represent the optimum path of the task completely in some multi-choice environments. In this paper, an interaction framework was designed for multiple path selection, supervised by an operator with an intuitive user interface. An interaction approach based on inquiry message was proposed to release the workload impact on human operator. A path priority function was presented to guarantee the multiple path selection. Simulation and experiments on Pioneer 3 AT robot showed good performance of our multi-path selecting navigation system when the operator's experiential cogitation need to be considered in path selection.

Original languageEnglish
Title of host publicationSocial Robotics - 4th International Conference, ICSR 2012, Proceedings
Pages506-515
Number of pages10
DOIs
Publication statusPublished - 2012
Event4th International Conference on Social Robotics, ICSR 2012 - Chengdu, China
Duration: 29 Oct 201231 Oct 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7621 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference4th International Conference on Social Robotics, ICSR 2012
Country/TerritoryChina
CityChengdu
Period29/10/1231/10/12

Keywords

  • human supervision
  • inquiry message
  • multi-path selection
  • path priority

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