Blended Shared Control with Subgoal Adjustment

Zongyao Jin, Prabhakar Pagilla, Harshal Maske, Girish Chowdhary

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Combining the benefits of robust situational awareness of human operators with the efficiency and precision of automatic control has been an important topic of human-machine shared control. The emphasis is on keeping human operators in the loop while automatic control providing assistance to improve task performance. Given a task with specific subgoals, execution of a task using blended shared control involves predicting the operator's intent of subgoal transitions and deciding the blending weights for inputs from the human operator and automatic control. In this paper we address the problem of subgoal adjustment in blended shared control which is typically initiated by the operator's intent and necessary to sustain the shared control performance for changing subgoal conditions. First, we provide a method to predict operator's intent of visiting a subgoal. Based on intent prediction, we propose a method for subgoal adjustment where the adjustment is encoded by a hyperrectangle. The volume of the hyper-rectangle is obtained by using a hyperbolic slope transition function which is based on the distance between subgoals. The adjustment actions within the hyper-rectangle are facilitated by a skill-weighted action integral that takes into consideration the skill level of the operator. The approach is tested on a scaled hydraulic excavator platform with multiple novice operators and a skilled operator. Experimental results are presented and discussed.

Original languageEnglish (US)
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2724-2729
Number of pages6
ISBN (Electronic)9781538666500
DOIs
StatePublished - Jan 16 2019
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: Oct 7 2018Oct 10 2018

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period10/7/1810/10/18

Fingerprint

Social Adjustment
Task Performance and Analysis
Excavators
Efficiency
Weights and Measures
Operator
Hydraulics

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

Cite this

Jin, Z., Pagilla, P., Maske, H., & Chowdhary, G. (2019). Blended Shared Control with Subgoal Adjustment. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (pp. 2724-2729). [8616461] (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00465

Blended Shared Control with Subgoal Adjustment. / Jin, Zongyao; Pagilla, Prabhakar; Maske, Harshal; Chowdhary, Girish.

Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2724-2729 8616461 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jin, Z, Pagilla, P, Maske, H & Chowdhary, G 2019, Blended Shared Control with Subgoal Adjustment. in Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018., 8616461, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 2724-2729, 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Miyazaki, Japan, 10/7/18. https://doi.org/10.1109/SMC.2018.00465
Jin Z, Pagilla P, Maske H, Chowdhary G. Blended Shared Control with Subgoal Adjustment. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2724-2729. 8616461. (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). https://doi.org/10.1109/SMC.2018.00465
Jin, Zongyao ; Pagilla, Prabhakar ; Maske, Harshal ; Chowdhary, Girish. / Blended Shared Control with Subgoal Adjustment. Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 2724-2729 (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).
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