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Ndzi, David
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document
Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors
Abstract
A system is presented that shares control between ultrasonic sensors, a tele-operator and a mobile robot.The mobile robot can be directed by the tele-operator, or by ultrasonic sensors, or they can share control.The mobile robot system can change direction if there are obstacles ahead or if it is helpful.Sharing control allows a human tele-operator to drive efficiently and safely.Controller gains are set automatically for a human tele-operator and the ultrasonic sensor system by calculating a confidence factor for the mobile robot tele-operator. The ultrasonic sensor system can assist a human tele-operator in driving the mobile robot to offset for shortcomings, for example the tele-operator may not be able to see the mobile robot or the human tele-operator may be tired.Finally, some testing is described to validate the proposed methods.