Mobile robot navigation based on shared control of Fuzzy Discrete Event System

Abstract

Shared control which combines automatic control of robot with operator's direct control can greatly improve the operation ability of teleoperation system. This paper proposes a new shared control mode based on the supervisory theory of Fuzzy Discrete Event System (FDES). The developed supervisory mode is used for the transition between direct control mode and automatic control mode to reduce misoperation and improve the robustness of the system. Here, we report results with ten subjects used different control methods to conduct real-time simulation of the robot in different maps. The data recorded verify the effectiveness of the method, such as collision rate which decline 81.5% and 50% compare to direct control and shared method using DES in complex map, respectively.