OJOp  Vol.2 No.3 , September 2013
Human-Robot Collaborative Planning for Navigation Based on Optimal Control Theory
Author(s) Sousso Kelouwani*

Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participation in the robotic control process when the navigation module is running raises the share control issue. This work presents a new approach for two agents collaborative planning using the optimal control theory and the three-layer architecture. In particular, the problem of a human and a navigation module collaborative planning for a trajectory following is analyzed. The collaborative plan executed by the platform is a weighted summation of each agent control signal. As a result, the proposed architecture could be set to work in autonomous mode, in human direct control mode or in any aggregation of these two operating modes. A collaborative obstacle avoidance maneuver is used to validate this approach. The proposed collaborative architecture could be used for smart wheelchairs, telerobotics and unmanned vehicle applications.

Cite this paper
S. Kelouwani, "Human-Robot Collaborative Planning for Navigation Based on Optimal Control Theory," Open Journal of Optimization, Vol. 2 No. 3, 2013, pp. 72-79. doi: 10.4236/ojop.2013.23010.
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