TY - GEN
T1 - Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic
AU - Azcarate, Raul F.G.
AU - Daniela, S. C.
AU - Hayat, A. A.
AU - Yi, Lim
AU - Muthugala, M. A.Viraj J.
AU - Tang, Q. R.
AU - Povendhan, A. P.
AU - Leong, K. J.K.
AU - Elara, M. R.
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85146357538
UR - https://www.scopus.com/pages/publications/85146357538#tab=citedBy
U2 - 10.1109/IROS47612.2022.9981872
DO - 10.1109/IROS47612.2022.9981872
M3 - Conference contribution
AN - SCOPUS:85146357538
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 141
EP - 148
BT - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -