Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic
Raul F.G. Azcarate, S.C. Daniela, A.A. Hayat, Lim Yi, M. A. Viraj J. Muthugala, Q.R Tang, A.P. Povendhan, K.J.K. Leong
Abstract
Autonomous vehicles are designed to elevate the efficiency of assigned tasks and ensure the safety of the environment in which they operate. This paper presents a research study focused on shared autonomy using a multi-layer fuzzy logic framework to build a relationship between an autonomous self-reconfigurable robot and a human user by switching control to the teleoperator to assist the robot when it faces challenging scenarios while keeping a good performance and maintaining a safe environment. A novel multi-layer fuzzy logic decision process with shared autonomy for a safety framework is proposed. It evaluates safety based on the robot's multi-sensor inputs, the teleoperator's attention level, and the configuration state of the self-reconfigurable robot and switches the operation mode, robot speed gain, and configuration state for performance and safety without compromises. The experimental outcome successfully demonstrates the self-reconfigurable robot's capability to navigate safely using shared autonomy in real-world pavement scenarios using the proposed algorithm during autonomous navigation.
BibTeX
@inproceedings{iros2022_sharedautonomyfo,
title = {Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic},
author = {Raul F.G. Azcarate and S.C. Daniela and A.A. Hayat and Lim Yi and M. A. Viraj J. Muthugala and Q.R Tang and A.P. Povendhan and K.J.K. Leong and M.R. Elara},
booktitle = {IROS 2022},
year = {2022}
}