Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots

Kun Qian, Dan Niu, Fang Fang, Xudong Ma

2017

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.

Paper Citation

in Harvard Style

Qian K., Niu D., Ma X. and Fang F. (2017). Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 201-208. DOI: 10.5220/0006382902010208

in Bibtex Style

@conference{icinco17,
author={Kun Qian and Dan Niu and Xudong Ma and Fang Fang},
title={Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006382902010208},
isbn={978-989-758-264-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots
SN - 978-989-758-264-6
AU - Qian K.
AU - Niu D.
AU - Ma X.
AU - Fang F.
PY - 2017
SP - 201
EP - 208
DO - 10.5220/0006382902010208