A Sensor Fusion Based Robotic System Architecture using Human Interaction for Motion Control

Abstract

The human-robot interaction is an emerging field in the area of robotics and growth in this field facilitates a sophisticated control system for the robotic system. Human-robot interaction allows the robot to determine some decision while the robot communicates with the human operator to make a more difficult decision. For this reason, different control systems for autonomous and tele-operated robots are assessed. Also, a few control algorithms are outlined for a better understanding of how the system makes decisions. The paper also proposes a motion control module that uses human robot interaction and sensor fusion for the robotic control system. This is a work in progress, and the control system architecture will be updated with more functionality and modules as the work progresses.