Authors:
Kun Qian
;
Dan Niu
;
Xudong Ma
and
Fang Fang
Affiliation:
Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation and Southeast University, China
Keyword(s):
Mobile Robot, Gaussian Process, Shared control, Semi-autonomous, Wi-Fi Signal Strength.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Telerobotics and Teleoperation
Abstract:
In this paper, a novel human-robot shared control approach is proposed to solve the problem of semi-autonomous mobile robot navigation with the spatial constraints of maintaining reliable Wi-Fi connection. In particular, the presented approach benefits from using Gaussian Process Regression method to learn the distribution of indoor Wi-Fi signal strength (WSS) and to fuse it with the environmental occupancy probability. The resulting WSS-Occupancy hybrid map is further utilized for generating paths that prevent the robot from violating the spatial restriction. A shared control strategy is designed to implement the WSS-aware navigation behaviour. The approach is evaluated by both simulation and real-world experiments, in which the results validate the practicability and effectiveness of the approach.