hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Constraint-based planning and control for safe, semi-autonomous operation of vehicles
MIT.
MIT.
MIT.
2012 (English)In: 2012 IEEE intelligent vehicles symposium: (IV 2012) : Alcala de Henares, Madrid, Spain, 3-7 June 2012, 2012, 383-388 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a new approach to semi-autonomous vehicle hazard avoidance and stability control, based on the design and selective enforcement of constraints. This differs from traditional approaches that rely on the planning and tracking of paths. This emphasis on constraints facilitates "minimally-invasive" control for human-machine systems; instead of forcing a human operator to follow an automation-determined path, the constraint-based approach identifies safe homotopies, and allows the operator to navigate freely within them, introducing control action only as necessary to ensure that the vehicle does not violate safety constraints. The method evaluates candidate homotopies based on "restrictiveness", rather than traditional measures of path goodness, and designs and enforces requisite constraints on the human's control commands to ensure that the vehicle never leaves the controllable subset of a desired homotopy. Identification of these homotopic classes in off-road environments is performed using geometric constructs. The goodness of competing homotopies and their associated constraints is then characterized using geometric heuristics. Finally, input limits satisfying homotopy and vehicle dynamic constraints are enforced using threat-based feedback mechanisms to ensure that the vehicle avoids collisions and instability while preserving the human operator's situational awareness and mental models. The methods developed in this work are shown in simulation and experimentally demonstrated in safe, high-speed teleoperation of an unmanned ground vehicle. © 2012 IEEE.

Place, publisher, year, edition, pages
2012. 383-388 p.
Keyword [en]
Hazards, Humans, Planning, Torque, Vehicle dynamics, Vehicles, Wheels, collision avoidance, man-machine systems, navigation, remotely operated vehicles, road safety, stability, automation-determined path, constraint-based approach, constraint-based control, constraint-based planning, geometric constructs, geometric heuristics, hazard avoidance, high-speed teleoperation, homotopic classes, human-machine systems, mental models, minimally-invasive control, off-road environments, path planning, path tracking, safe vehicle operation, semi-autonomous vehicle operation, situational awareness, stability control, threat-based feedback mechanisms, unmanned ground vehicle, vehicle dynamic constraints, Semi-Autonomous control, human-machine interaction, obstacle avoidance, planning, shared adaptive control, teleoperation, unmanned ground vehicles
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20839DOI: 10.1109/IVS.2012.6232153ISI: 000309167700063Scopus ID: 2-s2.0-84864986028ISBN: 978-1-4673-2118-1 OAI: oai:DiVA.org:hh-20839DiVA: diva2:586694
Conference
IEEE Intelligent Vehicles Symposium (IV), Alcala de Henares, SPAIN, JUN 03-07, 2012
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-20Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Iagnemma, Karl
Robotics

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 154 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf