Human integration into robot control utilising potential fields

摘要

Human integration into discrete event control systems is considered by utilising potential fields for control synthesis. Human integration into a control system is of importance in. Many situations, including those in which limited sensor information about the environment or the task is available. The framework presented allows the sharing of human commands with commands from an automated control system. Potential fields are being used as a tool to generate velocity commands from an autonomous task level controller as well as allowing the human to interact. The potential fields are also utilised to constrain human input such that human input error is minimised. The ideas presented here are supported by experiments.