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Personalized Design and Experimental Validation of a Limited Information Cooperative Shared-Controller for Vehicle-Manipulators

Varga, Balint ORCID iD icon 1,2; Inga, Jairo 1,3; Hohmann, Sören 1,3
1 Institut für Regelungs- und Steuerungssysteme (IRS), Karlsruher Institut für Technologie (KIT)
2 Fakultät für Elektrotechnik und Informationstechnik (ETIT), Karlsruher Institut für Technologie (KIT)
3 Karlsruher Institut für Technologie (KIT)

Abstract:

Large vehicle-manipulators are systems consisting of a medium-sized heavy-duty vehicle and a hydraulic manipulator. They operate in an unstructured environment and are therefore not fully automated. However, semi-automation of such a system is possible, where the automation controls the vehicle and a human operator controls the manipulator. Since in the unstructured environment not all system trajectories are measurable for the automation, a so-called Limited Information Cooperative Shared-Controller (LICSC) has been proposed in previous work. However, the design of the LICSC is done through tuning which is sensitive to the operator controlling the manipulator. The first contribution of this work is to reduce this sensitivity. A novel personalized design of the LICSC is presented that provides control tailored to the human operator. Our proposed approach uses state-of-the-art design methods of a cooperative controller to obtain the LICSC. The second contribution is the experimental validation of the LICSC, which proves the importance of the personalization to the human operator and demonstrates the advantage of the method.


Zugehörige Institution(en) am KIT Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 17.10.2021
Sprache Englisch
Identifikator ISBN: 978-1-66544-207-7
KITopen-ID: 1000151131
Erschienen in 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Veranstaltung IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC 2021), Melbourne, Australien, 17.10.2021 – 20.10.2021
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1489–1494
Nachgewiesen in Dimensions
Scopus
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