Unobtrusive and assistive obstacle avoidance for tele-operation of ground vehicles

Mingfeng Zhang; Piotr Jasiobedzki

doi:10.1117/12.2263514

5 May 2017 Unobtrusive and assistive obstacle avoidance for tele-operation of ground vehicles

Mingfeng Zhang, Piotr Jasiobedzki

Proceedings Volume 10195, Unmanned Systems Technology XIX; 101950W (2017) https://doi.org/10.1117/12.2263514
Event: SPIE Defense + Security, 2017, Anaheim, CA, United States

Abstract

This paper presents a new obstacle avoidance method that provides unobtrusive assistance to tele-operation of unmanned ground vehicles. Different from existing obstacle avoidance methods, the present method can determine whether the driving commands from an operator are safe in the presence of obstacles and can automatically adjust unsafe commands to help the operator avoid proximate obstacles. The command adjustment is done in an unobtrusive manner and conforms to the dynamic and kinematic constraints of the vehicle in order to minimize its interference to the operator. Due to its assistive and unobtrusive nature, this method can quietly share some control authority with an operator in tele-operating a vehicle, and hence it has the potential to make tele-operation of ground vehicles in challenging environments significantly easier and safer. The effectiveness of this method is demonstrated in extensive experiments in cluttered environments using military-grade tracked robots.

Conference Presentation

Citation Download Citation

Mingfeng Zhang and Piotr Jasiobedzki "Unobtrusive and assistive obstacle avoidance for tele-operation of ground vehicles", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950W (5 May 2017); https://doi.org/10.1117/12.2263514

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available