A semi-autonomous control architecture applied to robotic wheelchairs

Abstract

A intelligent control architecture for semi-autonomous systems is presented. This has been motivated by the need for an architecture to differentiate between users of different perceptual and cognitive capabilities when interacting and using machines with automatic features. A good example for that is a robotic wheelchair. The proposed architecture evolves around three variables: degree of autonomy to reflect the user capabilities, user's level of confidence in commanding the machine, and strength of conflict between the user's command and the machine's autonomous response. The analogy between this architecture and horseback riding is demonstrated.